Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots

Author(s):  
Yulun Zhuang ◽  
Yuan Xu ◽  
Binxin Huang ◽  
Mandan Chao ◽  
Guowei Shi ◽  
...  
2018 ◽  
Vol 31 (1) ◽  
pp. 1-8
Author(s):  
MARCOS DA SILVA BRUM ◽  
THOMAS NEWTON MARTIN ◽  
VINÍCIUS SANTOS DA CUNHA ◽  
LUIZ FERNANDO TELEKEN GRANDO ◽  
ALEX TAGLIAPIETRA SCHONELL

ABSTRACT The objective of this study was to evaluate the phytomorphological parameters of soybean in a crop-livestock system inoculated with Azospirillum brasilense. The experiment was conducted in Santa Maria, Brazil, for two agricultural years (2 Paper extracted from the doctoral thesis of the first author. 012/2013 and 2013/2014) in a randomized complete block design with three replications. In the winter, the black oat and ryegrass pasture was managed with sheep under different grazing systems: (I) - a conventional grazing (CG) system, where the animals remained in the pasture throughout the experimental period without any pasture height control; (II, III, and IV) - systems with post-grazing pasture heights of 10, 20, and 30 cm, respectively; and (NG) - one control without grazing. All treatments received two nitrogen doses (50 and 100 kg ha-1) and inoculation or no inoculation (A. brasilense). The soybean cultivar BMX Potência RR was sown using no-tillage on 16 November 2012 and 1 December 2013. In each plot, seven rows of plants with spacing of 0.45 m were used, and in four rows, the seeds were inoculated with the bacterium A. brasilense. The phytomorphological variables and grain productivity were evaluated. In a croplivestock system, soybean has better productivity when established on black oat and ryegrass pasture managed with post-grazing pasture heights of between 20 and 30 cm. Areas under conventional grazing in the winter led to smaller soybean plants with lower first and last pod heights. Inoculation with A. brasilense should not be used alone in soybean cultivation.


Author(s):  
Buyoun Cho ◽  
Min-Su Kim ◽  
Sung Woo Kim ◽  
Seunghoon Shin ◽  
Yeseong Jeong ◽  
...  

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880444 ◽  
Author(s):  
Arne-Christoph Hildebrandt ◽  
Konstantin Ritt ◽  
Daniel Wahrmann ◽  
Robert Wittmann ◽  
Felix Sygulla ◽  
...  

Bipedal robots can be better alternatives to other robots in certain applications, but their full potential can only be used if their entire kinematic range is cleverly exploited. Generating motions that are not only dynamically feasible but also take into account the kinematic limits as well as collisions in real time is one of the main challenges towards that goal. We present an approach to generate adaptable torso height trajectories to exploit the full kinematic range in bipedal locomotion. A simplified 2D model approximates the robot’s full kinematic model for multiple steps ahead. It is used to optimize the torso height trajectories while taking future motion kinematics into account. The method significantly improves the robot’s motion not only while walking in uneven terrain, but also during normal walking. Furthermore, we integrated the method in our framework for autonomous walking and we validated its real-time character in successfully conducted experiments.


Sign in / Sign up

Export Citation Format

Share Document