TAILIEUCHUNG - Humanoid Robots Human-like Machines Part 7

Tham khảo tài liệu 'humanoid robots human-like machines part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | An Adaptive Biped Gait Generation Scheme Utilizing Characteristics of Various Gaits 231 where PK Power by kinetic energy x y Position of CoG of link i I 1 J I ỡXi Ỡ-Yi ỡZị Angles of link i about the x y and z axes I Xi IYi I Zi Height of CoG of link i Next the sum of the two powers is computed. Note that a positive sum implies that the total torque is applied towards the direction of walk. On the contrary a negative sum implies that the total torque is acting on the reverse direction of walk. Here it is assumed that the type of actuators of the robot have no capacity to keep energy. Then the total effort of actuators can be represented by the absolute value of the sum of powers. Hence it is used here as the index of the consumed energy. P 1 Pp Pk I 3 where P Total power The total supplemented power per step is computed by integration of the total power over the time interval of a step. E Pdt 4 where E Supplemented Energy T Time interval of a step 3. System Architecture Methodology The architecture of the Sensor Based Gait Generation system is described in detail. The design procedure of the proposed system is described first. The selection criteria of gait modules are explained afterwards. Procedure The design flow of the Sensor-Based Gait Generation system is as follows 1. Preparation of gait modules using available gait generation schemes 2. Evaluation of gait modules on each ground condition 3. Designing and development of Gait Selector 4. Installation and architecture optimization We prepare self-sustained gait modules first. Then gait modules are categorized according to their mobility and labeled with applicable ground conditions. We evaluate gait modules by rehearsal walking to verify the appropriateness of the relationship between the gait module and ground conditions. Next Gait Selector is configured by criteria that are based on stability margin and motion state of walking. Finally we fine-tune Gait Selector by installing the Sensor-Based Gait .

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