Control of a legged robot

2015 ◽  
Vol 24 (1-2) ◽  
pp. 53-57
Author(s):  
Maxime Sadre
Keyword(s):  
Reference Model ◽  
Stabilization Energy ◽  
Main Task ◽  
Legged Robot ◽  
Energy Shaping ◽  
Gait Generation ◽  
System A ◽  
Nonlinear Energy

AbstractThis paper deals with the control of hopping and running systems that interact intermittently with the environment. The control, based on a nonlinear energy reference model, has the main task of conferring to the system, a periodic stable behavior. This approach may be used for gait generation, nominal stance stabilization, energy shaping, and optimization.

scholarly journals METHODOLOGICAL APPROACH TO FORMATION OF A SYSTEM OF ECONOMIC AND LEGAL SUPPORT OF STABILITY OF THE BANKING SYSTEM

2021 ◽  
Vol 4 (39) ◽  
pp. 29-34
Author(s):  
H. Pohrishchuk ◽  
N. Dobizha ◽  
V. Myronchuk ◽  
I. Lashchyk ◽  
Yu. Kashpruk
Keyword(s):  
Financial Stability ◽  
Positive Impact ◽  
Methodological Approach ◽  
Banking System ◽  
Circulatory System ◽  
Jel Classification ◽  
Main Task ◽  
Structural Elements ◽  
System A ◽  
Banking Institutions

Abstract. The heart of any market economy is its circulatory system. the complex of credit and banking institutions that serve their viability of structures (infrastructural elements), is a full-fledged banking system of the country. Modern dynamic processes of globalization of financial markets due to the acceleration of the free movement of capital, in addition to a positive impact on the development of national financial systems, create conditions for the spread of crisis trends, including contributing to the manifestation of the chain of "infection effect" of banking systems in the international financial space. A system of economic and legal support for the financial stability of the banking system has been developed. The feasibility of creating and achieving the effectiveness of which in modern conditions is due to the need to reboot the domestic banking system to solve existing internal financial problems and transform it in accordance with the European-oriented vector of development of the country’s economy. The existing system provides for the financial stability of the banking system at two levels: at the macro level - the banking system as an object with systemic properties; micro-level - banks as structural elements of the banking system.  The study of the features of the formation of a system of economic and legal support for the financial stability of the banking system. The main task was to optimize the main elements of the system of economic and legal support for the financial stability of the banking system. The main goal of the study is to form a system of economic and legal support for the financial stability of the banking system. A methodology for structuring system elements was applied. Building an information model allows you to structure the elements of the system of economic and legal support for the financial stability of the banking system, see their relationship, highlight the main and secondary ones. Keywords: economic and legal support, stability, financial stability, banking system, banks. JEL Classification: G20, G21, E58  Formulas: 3; fig.: 1; tabl.: 2; bibl.:15.

scholarly journals Design and Implementation of Symmetric Legged Robot for Highly Dynamic Jumping and Impact Mitigation

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6885
Author(s):  
Lei Wang ◽  
Fei Meng ◽  
Ru Kang ◽  
Ryuki Sato ◽  
Xuechao Chen ◽  
...  
Keyword(s):  
Force Production ◽  
Legged Robot ◽  
Leg Length ◽  
Robot System ◽  
Torque Density ◽  
Dynamic Constraints ◽  
Impact Mitigation ◽  
Design And Implementation ◽  
System A ◽  
Force Sensitivity

Aiming at highly dynamic locomotion and impact mitigation, this paper proposes the design and implementation of a symmetric legged robot. Based on the analysis of the three-leg topology in terms of force sensitivity, force production, and impact mitigation, the symmetric leg was designed and equipped with a high torque density actuator, which was assembled by a custom motor and two-stage planetary. Under the kinematic and dynamic constraints of the robot system, a nonlinear optimization for high jumping and impact mitigation is proposed with consideration of the peak impact force at landing. Finally, experiments revealed that the robot achieved a jump height of 1.8 m with a robust landing, and the height was equal to approximately three times the leg length.

A Dripping Faucet as a Nonextensive System

2004 ◽  
Author(s):  
T. J. P. Penna ◽  
J. C. Sartorelli
Keyword(s):  
Long Range ◽  
Statistical Physics ◽  
Chaotic Behavior ◽  
Initial Conditions ◽  
Power Laws ◽  
Main Task ◽  
Nonextensive Statistical Mechanics ◽  
System A ◽  
Microscopic Interactions ◽  
Probability Densities

Here we present our attempt to characterize a time series of drop-to-drop intervals from a dripping faucet as a nonextensive system. We found a long-range anticorrelated behavior as evidence of memory in the dynamics of our system. The hypothesis of faucets dripping at the edge of chaos is reinforced by results of the linear rate of the increase of the nonextensive Tsallis statistics. We also present some similarities between dripping faucets and healthy hearts…. Many systems in Nature exhibit complex or chaotic behaviors. Chaotic behavior is characterized by short-range correlations and strong sensitivity to small changes of the initial conditions. Complex behavior is characterized by the presence of long-range power-law correlations in its dynamics. In the latter, the sensitivity to a perturbation of the initial condition is weaker than in the former. Because the probability densities are frequently described as inverse power laws, the variance and the mean often diverge. Although it is hard to predict the long-term behavior of such systems, it is still possible to get some information from them and even to find similarities between two apparently very distinct systems. Tools from statistical physics are frequently used because the main task here is to deal with diverse macroscopic phenomena and to try to explain them, starting with the microscopic interactions among many individual components. The microscopic interactions are not necessarily complicated, but the collective behavior can determine a rather intricate macroscopic description. Nonextensive statistical mechanics, since its proposal in 1988 [27], has been applied to an impressive collection of systems in which spatial or temporal longrange correlations appear. Hence, it can also become a useful tool to characterize such systems. Here, we present an attempt of using such formalism to try to understand the intriguing behavior of an apparently simple system: a dripping faucet.

scholarly journals Reinforcement Learning for Agents with Many Sensors and Actuators Acting in Categorizable Environments

2005 ◽  
Vol 23 ◽  
pp. 79-122 ◽  
Author(s):  
J. M. Porta ◽  
E. Celaya
Keyword(s):  
Reinforcement Learning ◽  
Autonomous Robots ◽  
Learning Algorithms ◽  
Learning Systems ◽  
Learning Approaches ◽  
Legged Robot ◽  
Sensors And Actuators ◽  
Gait Generation ◽  
Learning Time ◽  
Motor Commands

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots. We argue that reinforcement learning can only be successfully applied to this case if strong assumptions are made on the characteristics of the environment in which the learning is performed, so that the relevant sensor readings and motor commands can be readily identified. The introduction of such assumptions leads to strongly-biased learning systems that can eventually lose the generality of traditional reinforcement-learning algorithms. In this line, we observe that, in realistic situations, the reward received by the robot depends only on a reduced subset of all the executed actions and that only a reduced subset of the sensor inputs (possibly different in each situation and for each action) are relevant to predict the reward. We formalize this property in the so called 'categorizability assumption' and we present an algorithm that takes advantage of the categorizability of the environment, allowing a decrease in the learning time with respect to existing reinforcement-learning algorithms. Results of the application of the algorithm to a couple of simulated realistic-robotic problems (landmark-based navigation and the six-legged robot gait generation) are reported to validate our approach and to compare it to existing flat and generalization-based reinforcement-learning approaches.

Gait Generation for Legged Robot by Encoder-Decoder Model

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P1-I07
Author(s):  
Yusaku SEMIYA ◽  
Kyo KUTSUZAWA ◽  
Dai OWAKI ◽  
Mitsuhiro HAYASHIBE
Keyword(s):  
Legged Robot ◽  
Gait Generation

scholarly journals Gait Generation and Walk Speed Control for Multi-Legged Robot with Wave CPG Model

2004 ◽  
Vol 22 (2) ◽  
pp. 230-238
Author(s):  
Shinkichi Inagaki ◽  
Hideo Yuasa ◽  
Takanori Suzuki ◽  
Tamio Arai
Keyword(s):  
Speed Control ◽  
Legged Robot ◽  
Walk Speed ◽  
Gait Generation
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