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[PDF] Top 20 Quasi optimal sagittal gait of a biped robot with a new structure of knee joint

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Quasi optimal sagittal gait of a biped robot with a new structure of knee joint

Quasi optimal sagittal gait of a biped robot with a new structure of knee joint

... design of humanoid robots has been a tricky challenge for several ...complexity of human joints, their movements are noto- riously difficult to be reproduced by a ...design of new ... Voir le document complet

27

Influence of frictions on gait optimization of a biped robot with an anthropomorphic knee

Influence of frictions on gait optimization of a biped robot with an anthropomorphic knee

... MODEL A. Biped Model This study is focused on the cyclic walk of the biped in the sagittal ...considered biped is composed of seven rigid bodies with two feet, two ... Voir le document complet

7

Study of different structures of the knee joint for a planar bipedal robot

Study of different structures of the knee joint for a planar bipedal robot

... Lot of papers are devoted to the definition of reference walking trajectories for bipedal robots in two or three dimen- sions, [1], [2], [3], [4], ...point of view of energy consumption for ... Voir le document complet

9

Quasi Optimal Gait of a Biped Robot with a Rolling Knee Kinematic

Quasi Optimal Gait of a Biped Robot with a Rolling Knee Kinematic

... problem of optimization of trajectories for a new class of biped ...knees of this biped are similar as the anthropomorphic one and have a rolling contact ... Voir le document complet

9

Study of actuation and energy reduction with an anthropomorphic knee on biped robot

Study of actuation and energy reduction with an anthropomorphic knee on biped robot

... The knee of biped robots has usually one degree of freedom which one is a revolute ...study of rolling contact knee. The knee is composed of a ... Voir le document complet

7

Compliance for a cross four-bar knee joint

Compliance for a cross four-bar knee joint

... Effect of the springs on the knee joints on the energy ...effect of a cross four-bar knees with spring units on the energy consumption of the biped during a cyclic ... Voir le document complet

5

Human like trajectory generation for a biped robot with a four-bar linkage for the knees

Human like trajectory generation for a biped robot with a four-bar linkage for the knees

... design of a knee joint is a key issue in robotics to improve the lo- comotion and the performances of the bipedal ...study a design for the knee joints of ... Voir le document complet

27

Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure

Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure

... two new methods based on a locked link joint procedure obtained with the end-effector clamped to the ...needs a torque sensor to measure the external interaction wrench between the ... Voir le document complet

8

Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure

Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure

... Dep. of Design, Manufacturing and Control (LCFC) and ENIM (National College of Engineering of Metz), Metz, France ...Industrial, Robot, Identification, Clamped ...two new methods for ... Voir le document complet

9

Effects of Quadriceps Muscle Fatigue on Stiff-Knee Gait in Patients with Hemiparesis

Effects of Quadriceps Muscle Fatigue on Stiff-Knee Gait in Patients with Hemiparesis

... analysis of EMG signals and muscle kinematics explains the increase in knee flexion during the swing ...activity of the RF muscle during the initial pre-swing phase was significantly lower in the ... Voir le document complet

10

Optimal Walking of an Underactuated Planar Biped with Segmented Torso

Optimal Walking of an Underactuated Planar Biped with Segmented Torso

... time. with segmented torso consumes less energy than its 5-link counterpart at high walking speeds, and the improvement is mainly due to the reduced torque cost at the swing ...capable of testing 6-link ... Voir le document complet

9

Optimal Measurement Pose Selection for Joint Stiffness Identification of an Industrial Robot Mounted on a Rail

Optimal Measurement Pose Selection for Joint Stiffness Identification of an Industrial Robot Mounted on a Rail

... performed with a serial robot mounted on a ...composed of a KUKA KR500 L480-2 MT robot and a ...The robot rated payload is equal to 480 ...MT robot ... Voir le document complet

7

Dynamics of biped robots during a complete gait cycle: Euler-Lagrange vs. Newton-Euler formulations

Dynamics of biped robots during a complete gait cycle: Euler-Lagrange vs. Newton-Euler formulations

... side of Eq. 1-31 are linearly dependent on the unknown biped parameters (the same Property ...One of the inherent problems of legged locomotion (bipeds, quadrupeds, ...instance of ... Voir le document complet

39

Biomechanic and Energetic Effects of a Quasi-Passive Artificial Gastrocnemius on Transtibial Amputee Gait

Biomechanic and Energetic Effects of a Quasi-Passive Artificial Gastrocnemius on Transtibial Amputee Gait

... ankle joint actuation and thus do not provide the biarticular function of the amputated gastrocnemius ...develop a prosthesis that actuates both knee and ankle joints and then evaluate the ... Voir le document complet

13

An ankle robot for a modular gait rehabilitation system

An ankle robot for a modular gait rehabilitation system

... The proposed module allows all normal ankle movements and is capable of driving the two most important movements in gait, dorsi/plantar flexion and inversion/eversion.. [r] ... Voir le document complet

150

Quasi-loss of nationality - a new concept or a non-issue?

Quasi-loss of nationality - a new concept or a non-issue?

... not quasi-loss ( e.g . art. 5(1) 1961 Convention Statelessness : loss of nationality as a consequence of change in family status) – broad interpretation ? – Some provisions may help – though ... Voir le document complet

9

Workspace, Joint space and Singularities of a family of Delta-Like Robot

Workspace, Joint space and Singularities of a family of Delta-Like Robot

... Family Robot Singularities of a robotic manipulator are important feature that essentially influence its motion ...Mathematically, a singular configuration may be defined as rank deficiency ... Voir le document complet

32

Dynamic Identification of a 6 Dof Robot without Joint Position Data

Dynamic Identification of a 6 Dof Robot without Joint Position Data

... Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic ...calculated with torque and position ... Voir le document complet

7

Joint Independent Subspace Analysis: A Quasi-Newton Algorithm

Joint Independent Subspace Analysis: A Quasi-Newton Algorithm

... present a new algorithm for joint independent subspace anal- ysis (JISA) [ 1 ...is a blind source separation (BSS) framework inspired by two recently-proposed extensions to BSS that until ... Voir le document complet

9

Fibrous Arthropathy Associated With Morphea: A New Cause of Diffuse Acquired Joint Contractures

Fibrous Arthropathy Associated With Morphea: A New Cause of Diffuse Acquired Joint Contractures

... diffuse joint contractures encompass a large group of inherited disorders and acquired diseases, in particular a subtype of juvenile idiopathic arthritis called “dry polyarthritis, ” ... Voir le document complet

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