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Gait Pattern Generation under Disturbance Force |
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Rio Ozawa, Yuki Kamogawa, Yasuto Tamura, Hun-ok Lim(Kanagawa University, Japan) |
| This paper describes a gait pattern generation and the mechanisms of a biped humanoid robot. If disturbance forces are applied to the waist when the robot is walking, the robot should change its step length to control its balance and not fall down. The gait pattern consists of a leg trajectory, an arm trajectory, and a waist trajectory is created using a fuzzy control rule. A waist trajectory that can cancel the moments generated by the motion of the legs is also determined by using the preview control. To confirm the efficacy of the gait pattern, walking simulations were conducted. |
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Mechanism and Jumping Pattern of One-Legged Jumping Robot with Pneumatic Actuators |
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Yuya Yamamoto, Haruyoshi Nishi(Kanagawa University, Japan), Yusuke Torii(Fuji Xerox Corporation, Japan), Atsuo Takanishi(Waseda University, Japan), Hun-ok Lim(Kanagawa University, Japan) |
| This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Mono-articular and bi-articular muscles were installed in the rear and in the front of the thigh and shin. A jumping pattern is also developed in consideration of the performance of the pneumatic actuators. Several jumping experiments were conducted, and the effectiveness of the mechanism and jumping pattern was verified. |
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Gesture Reconfiguration from Joint Failure using Genetic Algorithm |
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Wisanu Jutharee, Thavida Maneewarn(King Mongkut’s University of Technology Thonburi, Thailand) |
| Humanoid robot consists of many degrees of freedom to perform various tasks in the same way as human. However, most robots lost its abilities when the joint failure problem occurs. In order to keep its basic function when the robot suffered joint failures, we proposed the algorithm which applied basic concepts of genetic algorithm optimization for generating new configuration from the remaining joints so that the robot can continue to perform its task. |
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A nonlinear H-infinity control approach for autonomous navigation of underactuated vessels |
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Gerasimos Rigatos(Industrial Systems Institute, Greece), Pierluigi Siano(University of Salerno, Italy), Nikolaos Zervos(Industrial Systems Institute, Greece) |
| A new nonlinear optimal control approach is proposed for autonomous navigation of unmanned surface vessels. The dynamic model of the surface vessels undergoes approximate linearization round local operating points which are redefined at each iteration of the control algorithm. These temporary equilibria consist of the last value of the vessel's state vector and of the last value of the control signal that was exerted on it. For the approximate linearization of the system's dynamics Taylor series expansion is performed through the computation of the associated Jacobian matrices. The modelling e |
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Development of a Human Detecting System Based on Three-Dimensional Point Cloud - Proposal of a Detecting Method in the Vicinity of a Sensor (about 0.3m~5m) - |
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Yushi Iwama, Yoshinobu Ando(Shibaura Institute of Technology, Japan) |
| In this paper, we present a human detecting system based on three-dimensional(3D) point cloud by discriminating between human and other objects by using range sensor. Although the shape of same objects seen from a sensor according to the difference of distance between the object and a sensor, we divided some areas in the vicinity of a sensor (about 0.3m~5m) by the difference of distance. Then, we set different detecting conditions in every area. Moreover, we measured shape of human and formulated the detecting condition partly, then we regulated it through experiment in order to detect human r |
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Safety Integrity Evaluation of Human Detection Systems |
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Bong Keun Kim(National Institute of Advanced Industrial Science and Technology, Japan) |
| A evaluation method for safety integrity of the human detection systems is proposed in this paper.
First, the undetected dangerous failure rate in the critical zones and safety integrity level are introduced. And also, safety integrity evaluation of the human detection system is discussed.
Next, the object motion detection system is explained and confusion matrix for failure rate calculation is proposed. |
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