Basic Study of Quadruped Locomotion System with Ability to Adjust Compliance

1993 ◽  
Vol 5 (6) ◽  
pp. 561-569 ◽  
Author(s):  
Akihito Sano ◽  
◽  
Junji Furusho ◽  
Akihiro Hashiguchi ◽  

It is very important to adjust the dynamics of a robot in order to achieve a natural behavior under the complicated interaction between the robot and the external environment. With respect to dynamic walking control of the quadruped locomotion system, a compliance control is discussed. In this paper, the stiffness and dumping of tiptoe motion in the coordinate fixed on the body is controlled at each configuration of the leg. The hierarchical control structure is adopted. In the lower level, torque feedback control at each joint is executed by using a torque sensor which was developed to accurately measure the torque of the joint. In the upper level, the reference torque signal to the lower level is generated to realize the desired compliance. The compliance control is applied in the three-leg-supporting phase and in the touchdown of the swing leg. The desired compliance is designed to absorb the vibration caused by the collision at the touchdown and not to prevent the forward movement. The effectiveness of the proposed control strategy is confirmed by experiments using walking robot ""COLT 3"".

2020 ◽  
Vol 2 (4) ◽  
pp. 14-31
Author(s):  
Élodie Dupey García

This article explores how the Nahua of late Postclassic Mesoamerica (1200–1521 CE) created living and material embodiments of their wind god constructed on the basis of sensory experiences that shaped their conception of this divinized meteorological phenomenon. In this process, they employed chromatic and design devices, based on a wide range of natural elements, to add several layers of meaning to the human, painted, and sculpted supports dressed in the god’s insignia. Through a comparative examination of pre-Columbian visual production—especially codices and sculptures—historical sources mainly written in Nahuatl during the viceregal period, and ethnographic data on indigenous communities in modern Mexico, my analysis targets the body paint and shell jewelry of the anthropomorphic “images” of the wind god, along with the Feathered Serpent and the monkey-inspired embodiments of the deity. This study identifies the centrality of other human senses beyond sight in the conception of the wind god and the making of its earthly manifestations. Constructing these deity “images” was tantamount to creating the wind because they were intended to be visual replicas of the wind’s natural behavior. At the same time, they referred to the identity and agency of the wind god in myths and rituals.


Author(s):  
Shiva Kumar K ◽  
Purushothaman M ◽  
Soujanya H ◽  
Jagadeeshwari S

Gastric ulcers or the peptic ulcer is the primary disease that affects the gastrointestinal system. A large extent of the population in the world are suffering from the disease, and the age group of people those who suffer from ulcers are 20-55years. Herbs are known to the human beings that are useful in the treatment of diseases, and there are a lot of scientific investigations that prove the pharmacological activity of herbal drugs. Practitioners have been using the herbal material to treat the ulcers successfully, and the same had been reported scientifically. Numerous publications have been made that proves the antiulcer activity of the plants around the world. The tablets were investigated for the antiulcer activity in two doses 200 and 400mg/kg in albino Wistar rats in the artificial ulcer those are induced by the ethanol. The prepared tablets showed a better activity compared to the standard synthetic drug and the marketed ayurvedic formulation. The tablets showed a dose-dependent activity in ulcer prevention and treatment. Many synthetic drugs are available for the ulcer treatment, and the drugs pose the other problems in the body by showing the side effects and some other reactions. This limits the use of synthetic drugs to treat ulcers effectively. Herbs are known to the human beings that are useful in the treatment of diseases, and there are a lot of scientific investigations that prove the pharmacological activity of herbal drugs.


1973 ◽  
Vol 28 (2) ◽  
pp. 206-215
Author(s):  
Hanns Ruder

Basic in the treatment of collective rotations is the definition of a body-fixed coordinate system. A kinematical method is derived to obtain the Hamiltonian of a n-body problem for a given definition of the body-fixed system. From this exact Hamiltonian, a consequent perturbation expansion in terms of the total angular momentum leads to two exact expressions: one for the collective rotational energy which has to be added to the groundstate energy in this order of perturbation and a second one for the effective inertia tensor in the groundstate. The discussion of these results leads to two criteria how to define the best body-fixed coordinate system, namely a differential equation and a variational principle. The equivalence of both is shown.


2004 ◽  
Vol 32 (04) ◽  
pp. 631-640
Author(s):  
Dong-Myong Jeong ◽  
Yong-Heum Lee ◽  
Myeong Soo Lee

The precise selection and the identification of acupuncture points are essential for the diagnosis and treatment of patients in Oriental medicine. In this study, we have developed a meridian identification system using Single-Power Alternating Current (SPAC), which discriminates between true acupoints and non-acupoints. The SPAC system is not affected by skin resistance or pressure and is more accurate than the existing meridian location system, which uses direct current (DC) excitation current. The accuracy of the meridian location is ensured with the SPAC system because it has the highest sensitivity and the lowest effect on the human body. A microprocessor is used to enhance reliability and increase the accuracy of the SPAC measurements. Current distribution is displayed using an image that overlays the measured skin current on the body image. The positions of the acupoints are then displayed on the body image. This method visualizes the meridian by measuring skin current with an improved electrode using the acupoint discrimination system. A computer display shows the transmitted current as a color related to the electrode position. We demonstrated that by changing the point of measurement on the skin and tracing the electrode on the screen, it is possible to visualize acupoints and meridian phenomena using the color display.


1927 ◽  
Vol 5 (1) ◽  
pp. 66-88
Author(s):  
J. ARMITAGE ROBERTSON

The galvanotropic reactions of Polycelis nigra were investigated in constant and "intermittent" (that is, a current showing slight commutator ripple) electrical currents, varying in strength from one to about ten milliamperes. Galvanotropic reactions were most readily forthcoming at about 2 m.a. constant current, higher current strengths producing signs of discomfort or rigor, and intermittent current being slightly more effective in producing such disturbances than constant current. As a rule, Polycelis places itself longitudinally, with head facing the kathode, and moves thither by means of looping, its normal gliding motion being in abeyance. If facing the kathode on application of the current, it simply loops forward, but if moving parallel to the electrodes it turns its anterior end first, and then movesmore or less directly towards the kathode. If previously facing the anode, a turn in the direction of the kathode is usually accomplished only after more or less headwaving and apparent difficulty or hesitation. Decapitate animals, if facing the anode in the current, at some time or other almost invariably loop backwards to the kathode, tail foremost, for a varying number of times, before turning their anterior end to the kathode and orientating normally. This was never observed in normal animals. Decaudate animals behave like unmutilated individuals. Decapitate-and-decaudate Polycelis (middle-pieces) reactin the same manner as do decapitate specimens, i.e. show backward looping. Longitudinal halves of Polycelis are usually curved towards the injured side, and show little or no movement, either in or out of the current; it is supposed that this curvature is mechanical and the result of the injury. Higher amperages (above 2 m.a.) produce, progressively, cessation of forward movement with twisting and apparent discomfort, and, finally, flattening of the kathodic end of the body. This last reaction is often accompanied by various postures, presumably the result of arrested movement. An explanation of these reactions, in normal and unmutilated animals, is attempted, based on the supposed interaction of the experimental current with the external portion of an inherent electrical circuit. If this inherent circuit be obstructed it is suggested that the metabolic activities, with which it is apparently correlated, are to some extent upset. Further, that to avoid this derangement, and concomitant malaise, the animals orientate themselves so that the experimental current does not flow counter to the external portion of their inherent circuit; that the turning mechanism of the flanks which affects this orientation can be explained upon similar grounds; finally that backward looping can be explained as a transference of control or dominance to the tail end, due to the combined inhibitory action of mutilation and of a contrary experimental current upon the normal physiological gradients at the anterior end. A variety of points related to the theory, and some cases of galvanotropism bearing on the work, together with their theoretical explanations, are discussed.


1954 ◽  
Vol s3-95 (30) ◽  
pp. 251-270
Author(s):  
G. P. WELLS

The mechanism of proboscis movement is analysed in detail in Arenicola marina L. and A. ecaudata Johnston, and discussed in relation to the properties of the hydrostatic skeleton. Proboscis activity is based on the following cycle of movements in both species. Stage I. The circular muscles of the body-wall and buccal mass contract; the head narrows and lengthens. Stage IIa. The circular muscles of the mouth and buccal mass relax; the gular membrane (or ‘first diaphragm’ of previous authors) contracts; the mouth opens and the buccal mass emerges. Stage IIb. The longitudinal muscles of the buccal mass and body-wall contract; the head shortens and widens and the pharynx emerges. Stage III. As Stage I. The two species differ anatomically and in their hydrostatic relationships. In ecaudata, the forward movement of body-fluid which extrudes and distends the proboscis is largely due to the contraction of the gular membrane and septal pouches. In marina, the essential mechanism is the relaxation of the oral region which allows the general coelomic pressure to extrude the proboscis. The gular membrane of marina contracts as that of ecaudata does, but its anatomy is different and it appears to be a degenerating structure as far as proboscis extrusion is concerned. Withdrawal of the proboscis may occur while the head is still shortening and widening in Stage IIb, or while it is lengthening and narrowing in Stage III. The proboscis is used both in feeding and in burrowing; in the latter case nothing enters through the mouth; the difference is largely caused by variation in the timing of withdrawal relative to the 3-stage cycle.


2019 ◽  
pp. 101-123
Author(s):  
S. Elizabeth Penry

By the eighteenth century, the town-based cofradía and cabildo offices had merged to form what scholars call the fiesta-cargo system, a series of linked posts that created affective ties to the town and legitimated authority within it. Andeans now defined themselves as comuneros, members of the común, the body of commoners that excluded caciques. To become a leader of the común, one served the saints by holding cofradía office. Comuneros had made cofradías and saints Andean: service to the saints rotated among the town’s ayllus and saints’ celebrations included llama sacrifice, pouring libations, and shamanistic practices. During their time as officeholders, comuneros were exempt from tribute and mita, making them a de facto nobility. Caciques saw these officeholders as threats to cacical rule and worked to undercut them. That fear coincided with Spanish policies that also sought to reduce cofradía officers so as to increase tribute payments and mita labor.


1988 ◽  
Vol 22 (2) ◽  
pp. 99-106 ◽  
Author(s):  
Stephen M. Longnecker

The somatostatins represent endogenous substances that serve a diversity of functions in the body. These activities are just beginning to be understood and could have major implications in the treatment of human disease. Their chief pharmacologic activities lie in the modification or modulation of protein hormone synthesis of the gastrointestinal system; a great many other systems may be involved as well. Since the discovery of the therapeutic potentials of naturally isolated somatostatins, attempts have been made to design newer analogs more conducive to practical use. Such an example is long-acting somatostatin analog octreotide. Literature has recently begun to appear describing the therapeutic activities of this and other similar compounds and the first steps to understanding their clinical pharmacology are being taken. Surprising activity has been found in the palliative treatment of a wide variety of formerly resistant gastrointestinal syndromes and endocrine tumors. These activities may have considerable future impact on the treatment of disease involving hormonal imbalance or inappropriate secretion.


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