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Inverse Dynamic Modeling of a Stair-Climbing Robotic platform with Flip Locomotion |
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Jae Neung Choi(Yeungnam Univ., Korea, Republic of ), Kyungmin Jeong(Korea Atomic Energy Research Institute, Korea, Republic of ), TaeWon Seo(Yeungnam Univ., Korea, Republic of ) |
One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FlipBot, is analyzed. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing.bystolic generic link bystolic coupons for free cialis discount coupons go cialis price check ciprofloxacin go cipromed |
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Design of Roller-Cam Clutch Mechanism for Energy Efficiency and High BackDrivability of Lower Extremity Exoskeleton |
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Ho Jun Kim, Chang Soo Han(Hanyang Univ., Korea, Republic of ) |
Design of Roller-Cam Clutch Mechanism for Energy Efficiency and High BackDrivability of
Lower Extremity Exoskeleton
Ho Jun Kim , Hee Don Lee , Wan Soo Kim , Dong Hwan Lim and Chang Soo Han (Hanyang Univ. , Korea)
a roller-cam clutch (RCC) mechanism was developed. The RCC can transfer bidirectional torque with high backdrivability, as well as increase actuation energy efficiency, in electrical exoskeleton robots. The developed mechanism was installed at the knee joint, which uses less metabolic energy, and unclutched during the swing phase, thereby functioning as a passive joint.new treatment for diabetes dosage for cialis prescription discounts cards drug coupons coupons for cialis 2016 |
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Modeling and Dynamic Analysis of the Biped Robot |
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Muhammad Rameez(Air University, Pakistan), Liaquat Ali Khan(Muhammad Ali Jinnah University, Pakistan) |
Modeling and Dynamic Analysis of the Biped Robot
Muhammad Rameez(Air University) and Dr. Liaquat Ali Khan(Associate professor at Muhammad Ali Jinnah University) Islamabad, Pakistan
Abstract: Biped robots have several degrees of freedom (DOF) composed of many articulated links connected together by joint which ends up in a complex structure and difficult to make it mimic human like locomotion gait which is dynamic in nature and at the same time stable in the sense of not falling by. This paper presents dynamic equations of motion and its Matlab simulation of joints position.bystolic generic link bystolic coupons for free type 2 diabetes signs go diabetes treatment lilly cialis coupon click drug coupon prescription discounts cards read coupons for cialis 2016 |
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Design of a Heavy Duty Manipulator for Dismantling of a Nuclear Power Plant |
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Changhoi Kim, Yongchil Seo, Sung-uk Lee, Byung-seon Choi, Jei-kwon Moon(Korea Atomic Energy Research Institute, Korea, Republic of ) |
Some of the nuclear power plants in Korea have reached their end of life-cycle, and the importance of developing dismantling techniques has been emphasized. We designed a manipulator for decommissioning a reactor pressure vessel. We analyzed the work environment for disassembly and the workspace of the manipulator, and verified the validity of kinematic variables through a kinematic simulation. We verified through a dynamics simulation that each joint of the designed manipulator can be operated within the maximally allowed torque despite a load of 250 kg. Finally, we verified through the strescoupons for cialis printable click new prescription coupons |
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Stability Analysis of Reference Compensation Technique of Neural Network Control for Robot Manipulators |
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Seul Jung(Chungnam National University, Korea, Republic of ) |
This paper presents the stability analysis of the reference compensation technique (RCT) of a neural network control scheme (NN) for controlling position of robot manipulators. RCT is known as one of neural network control schemes that compensate for the uncertainties of a robot manipulator. Different from the feedback error learning (FEL) scheme, RCT compensates at the trajectory level so that it has several structural advantages. RCT has been used in many applications. However, the stability analysis of the RCT scheme has not been addressed in the literature. Here the stability is analyzed bnew treatment for diabetes dosage for cialis cialis discount coupons go cialis price check cialis discount coupons go cialis price check cialis discount coupons open cialis savings and coupons coupons for cialis printable click new prescription coupons ciprofloxacin go cipromed |
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Development of a New Hybrid Link Based Mobile Platform |
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Heeseung Hong(Seoul National Universitiy, Korea, Republic of ), Hwa Soo Kim(Kyonggi University, Korea, Republic of ), Jongwon Kim, Youngjae Jeon(Seoul National University, Korea, Republic of ) |
A stair is the most representative obstacle in indoor circumstances so that if a mobile platform freely negates a stair, this will accelerate various autonomous driving technology researches. In this paper, a prototype of new hybrid link mobile platform for stair climbing is manufactured based on an optimized kinematic design. And its basic performance test on a plain surface and staircases are performed successfully and stair climbing algorithm as well as position recognition process are proposed.bystolic generic link bystolic coupons for free lilly cialis coupons click free discount prescription cards |
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