POSTURE CONTROL OF A HUMANOID ROBOT WITH A COMPLIANT ANKLE JOINT

2010 ◽  
Vol 07 (01) ◽  
pp. 5-29 ◽  
Author(s):  
MIN-SU KIM ◽  
JUN HO OH
Keyword(s):  
Ankle Joint ◽  
Inertial Measurement Unit ◽  
Control Algorithm ◽  
External Disturbance ◽  
Measurement Unit ◽  
Uneven Terrain ◽  
Biped Walking Robot ◽  
And Control ◽  
Single Support Phase ◽  
Support Phase

This paper contains an adjustment of the stiffness and control algorithm of an ankle joint to maintain the posture of a humanoid biped walking robot using an IMU (Inertial measurement Unit) in single support phase. One of the difficulties in maintaining the balance of a robot in single support phase involves the sole of the robot, which is easy to separate from the ground. This phenomenon is caused by an external disturbance or when the sole lands on uneven terrain. A method of adjusting the compliance in the ankle joint is introduced to reduce the tendency of this type of occurrence. In order to maintain the posture of a robot with a compliant ankle joint, a posture controller composed of a body balancing controller and a vibration reduction controller is adopted. A walking experiment is implemented using a compliant ankle joint and the posture controller. The proposed method is shown to enable rapid walking as well as walking on uneven terrain.

scholarly journals Model-Based Slippage Estimation to Enhance Planetary Rover Localization with Wheel Odometry

2021 ◽  
Vol 11 (12) ◽  
pp. 5490
Author(s):  
Anna Maria Gargiulo ◽  
Ivan di Stefano ◽  
Antonio Genova
Keyword(s):  
Inertial Measurement Unit ◽  
Correction Method ◽  
Harsh Environments ◽  
Measurement Unit ◽  
Planetary Rovers ◽  
Model Based ◽  
Accurate Knowledge ◽  
And Control ◽  
Wheeled Vehicles ◽  
Rover Localization

The exploration of planetary surfaces with unmanned wheeled vehicles will require sophisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a rover’s wheels and the terrain, we provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover’s trajectory across different terrain types and to determine the benefits of the proposed WO correction method.

Research on Missile System with Strapdown Guidance Technology

2013 ◽  
Vol 785-786 ◽  
pp. 1560-1563
Author(s):  
De Long Feng ◽  
Suo Chang Yang ◽  
Ying Xi Liu
Keyword(s):  
Inertial Measurement Unit ◽  
Simulation Experiment ◽  
Low Cost ◽  
Guidance System ◽  
Measurement Unit ◽  
Missile Guidance ◽  
Inertial Measurement ◽  
Guidance And Control ◽  
And Control ◽  
Missile System

This paper presents a project of missile guidance system based on the strapdown guidance technology. The project is composed of strapdown seeker and inertial measurement unit. The integrated guidance and control technology have been adopted. The project raise accuracy of missiles on the premise that the low cost should be guaranteed. According to simulation experiment, this paper proves the feasiblity of the scheme, and it has good ballistic missile.

Mantle Of The Expert Strategy Effectiveness In The Development Of Creative Thinking

2019 ◽  
Author(s):  
Ibrahim Arman
Keyword(s):  
Creative Thinking ◽  
Role Playing ◽  
Thinking Skills ◽  
Measurement Unit ◽  
Quasi Experimental ◽  
Males And Females ◽  
The Mean ◽  
Girls School ◽  
And Control ◽  
Experimental Group

<p>This study aimed at investigating the Effectiveness of Mantle of the Expert in creative thinking Skills among the 7<sup>th</sup> Graders. The study conducted on a sample of 7<sup>th</sup> Graders at Kober Secondary Boys School and Upper Kober Elementary Girls School. The study sample consisted of (100) students split into two groups (experimental and control). The researcher adopting the Torrance test for creative thinking the verbal image "A" by examining the tests used in the Ristow study (1988), Edwards and Baldov (1987) study, and designing a teacher book for the (engineering and measurement) unit according to the integration between the strategies of the mantle of the expert and role playing.</p> <p>This study adopted quasi-experimental design. It included two groups (experimental and controlled) in two branches (males and females) for each group. The controlled group was taught by using the traditional method whereas the experimental group by the mantle of the expert. The data analyzed using (ANCOVA) test to measure the differences in the development of creative thinking between the control and experimental groups.</p> <p>The Conclusions showed that there are statistically significant differences in the mean scores of the creative thinking test due to the way, gender and interaction between them.</p> <p>Based on the Conclusions of the study, the researcher recommends the need to use the mantles of the expert in the teaching of mathematics.</p>

Sign in / Sign up

Export Citation Format

Share Document