This paper presents the simplest walking model with an upper body. The model is a passive dynamic walker, i.e. it walks down a slope without motor input or control. The upper body is confined to the midway angle of the two legs. With this kinematic constraint, the model has only two degrees of freedom. The model achieves surprisingly successful walking results: it can handle disturbances of 8% ...

The thesis objective was to design a walking robot appropriate for testing a machine learning control system. As a robot that would learn how to walk, it was pre-maturely named Toddler. The passive dynamic walker, a class of simple robots driven by gravity and inertia, was selected as the model for the Toddler robot. Two preliminary passive walkers were explored: a three-dimensional, toy-like b...

Available online ?? Robotic quadrupeds which can function as transportation machines present many advantages due to their high mobility and ability to traverse rugged terrain as opposed to conventional wheeled robots. However the high degrees of freedom and large number of actuators associated greatly increase their energy expenditure. This problem can be overcome by exploiting the natural or p...

background: radon concentration was measured in the soil and indoor of amman and al- rusaifa cities in jordan during summer season. materials and methods: the measurement was performed using time-integrated passive radon dosimeters, containing a solid state nuclear track plastic detector, commercially known as cr-39. results: radon concentration levels in the soil ranged from 2.8 ± 1.2 to 6.9 ±...

Measures calculated from unperturbed walking patterns, such as variability measures and maximum Floquet multipliers, are often used to study the stability of walking. However, it is unknown if, and to what extent, these measures correlate to the probability of falling. We studied whether in a simple model of human walking, i.e., a passive dynamic walker, the probability of falling could be pred...

This paper reports how and to what extent the mass distribution of a passive dynamic walker can be tuned to maximize walking speed and stability. An exploration of the complete parameter space of a bipedal walker is performed by numerical optimization, and optimal manifolds are found in terms of speed, the form of which can be explained by a physical analysis of step periods. Stability, quantif...

This paper introduces a novel passive suspension system for ground vehicles. This system is based on a flexible Electromagnetic Shock Absorber (EMSA). In the proposed system, efforts are made to a) select a high damping coefficient usable in a car b) determine Physical dimensions and geometry not much different from those of the mechanical shock absorbers and c) seletct EMSA weight and volume l...

One of the key challenges in next generation access networks based on Ethernet Passive Optical Network (EPON) technology is Dynamic Bandwidth Allocation (DBA) process. In this paper we have proposed ‘Parnian’, a two-stage nested-auction for dynamic bandwidth allocation management in Ethernet Passive Optical Networks. In the proposed ‘Parnian’ method, by running nested auction, based on EPON arc...