دانلود و نمایش مقالات مرتبط با ژنراتور الگوی پیاده روی::صفحه 1
بلافاصله پس از پرداخت دانلود کنید

با سلام خدمت کاربران در صورتی که با خطای سیستم پرداخت بانکی مواجه شدید از طریق کارت به کارت (6037997535328901 بانک ملی ناصر خنجری ) مقاله خود را دریافت کنید (تا مشکل رفع گردد). 

نتیجه جستجو - ژنراتور الگوی پیاده روی

تعداد مقالات یافته شده: 2
ردیف عنوان نوع
1 Optimized humanoid walking with soft soles
بهینه سازی راه رفتن انسان نما با کف پای نرم-2017
Keywords:Compliant soles Deformation estimator Walking pattern generator Humanoid robots Optimized walking gaitIn order to control more efficiently the feet–ground interaction of humanoid robots during walking, we investigate adding outer soft (i.e. compliant) soles to the feet. The deformation subsequent to the contact of the soles with the ground is taken into account using a new walking pattern generator and deformation estimator. This novel humanoid walking approach ensures that the desired zero moment point for stability requirement is fulfilled. We validate our new controller using the HRP-4 humanoid robot performing walking experiments with and without the estimator. Also, to test the robustness of our approach and to obtain low-energy walking, we performed different walking motions.© 2017 Elsevier B.V. All rights reserved.
Keywords:Compliant soles | Deformation estimator | Walking pattern generator | Humanoid robots | Optimized walking gait
مقاله انگلیسی
2 Adaptive synthesis of dynamically feasible full-body movements for the humanoid robot HRP-2 by flexible combination of learned dynamic movement primitives
سنتز سازگاری در جهت حرکات پویای امکان پذیر تمام قسمت های بدن برای ربات HRP-2 انسان نما توسط ترکیب انعطاف پذیر از حرکت پویای یاد گرفته شده اولیه-2017
Article history:Available online 9 February 2017Keywords: Robotics NavigationWalking pattern generator Goal-directed movements Movement primitives Motor coordination Action sequencesSkilled human full-body movements are often planned in a highly predictive manner. For example, during walking while reaching towards a goal object, steps and body postures are adapted to the goal position already multiple steps before the goal contact. The realization of such highly predictive behaviors for humanoid robots is a challenge because standard approaches, such as optimal control, result in computation times that are prohibitive for the predictive control of complex coordinated full- body movements over multiple steps. We devised a new architecture that combines the online-planning of complex coordinated full-body movements, based on the flexible combination of learned dynamic movement primitives, with a Walking Pattern Generator (WPG), based on Model Predictive Control (MPC), which generates dynamically feasible locomotion of the humanoid robot HRP-2. A dynamic filter corrects the Zero Moment Point (ZMP) trajectories in order to guarantee the dynamic feasibility of the executed behavior taking into account the upper-body movements, at the same time ensuring an accurate approximation of the planned motion trajectories. We demonstrate the high flexibility of the chosen movement planning approach, and the accuracy and feasibility of the generated motion. In addition, we show that a naïve approach, which generates adaptive motion by using machine learning methods by the interpolation between feasible training motion examples fails to guarantee the stability and dynamic feasibility of the generated behaviors.© 2017 Elsevier B.V. All rights reserved.
Keywords:Robotics | Navigation | Walking pattern generator | Goal-directed movements | Movement primitives | Motor coordination | Action sequences
مقاله انگلیسی
rss مقالات ترجمه شده rss مقالات انگلیسی rss کتاب های انگلیسی rss مقالات آموزشی
logo-samandehi
بازدید امروز: 5114 :::::::: بازدید دیروز: 0 :::::::: بازدید کل: 5114 :::::::: افراد آنلاین: 65