Walking Microrobot Mechanism with an Exoskeleton

2000 ◽  
Vol 12 (2) ◽  
pp. 150-157
Author(s):  
Tetsuji Dohi ◽  
◽  
Kousuke Kishi ◽  
Takashi Yasuda ◽  
Isao Shimoyama ◽  
...  
Keyword(s):  
Electromagnetic Force ◽  
Characteristic Length ◽  
Vertical Motion ◽  
Elastic Force ◽  
Walking Robot ◽  
Electromagnetic Actuators ◽  
Paper Folding ◽  
Walking Motion

A walking robot, 40mm × 25mm × 15mm, with an exoskeleton like the structure of an insect has been developed. This exoskeletal mechanism consists of several copper plates and polyimide hinges, and is fabricated using a micromachining technology and a paper folding technique. The electromagnetic actuators permit the hinges of the exoskeleton to bend elastically without friction. This results in converting the vertical motion of the electromagnetic actuators into the lateral walking motion of the robot. Both the electromagnetic force of the actuators and the elastic force of the hinges are proportional to the square of the characteristic length of a robot. This means that an exoskeletal mechanism is suitable for downsizing a movable robot.

Research on Parameter Identification of Electromagnetic Actuator for Diesel Speed Governing

2013 ◽  
Vol 437 ◽  
pp. 505-512
Author(s):  
Yong Shi ◽  
Tong Jiang ◽  
Zai Ming Yang
Keyword(s):  
Parameter Identification ◽  
Electromagnetic Force ◽  
Analytical Models ◽  
Electromagnetic Actuator ◽  
Geometrical Parameters ◽  
Sensitivity Matrix ◽  
Central Difference ◽  
Electromagnetic Actuators ◽  
Error Sensitivity ◽  
Identification Method

To identify parameters of electromagnetic actuators with analytical models, there are problems such as poor model accuracy, multiple physical fields coupling of model, and slow convergence. Based on error sensitivity numerical analysis, a parameter semi-analytical identification method for electromagnetic actuators is proposed. In this article, a diesel engine speed governing electromagnetic actuator is taken as the research object. First, with finite element method, a numerical simulation model of the electromagnetic actuator is established, and sensitivity of main geometrical parameters relative to electromagnetic force is analyzed. Secondly, with theoretical deduction, a difference model of the nominal and measurement electromagnetic force is built, and the electromagnetic actuators geometrical parameter identification formula is gotten. Thirdly, different numerical methods to construct a system error sensitivity matrix are compared, and the compared result is the accuracy of central difference better. Finally, the average static characteristics error of the electromagnetic actuator is reduced from 3.3174 to 1.0182. Therefore, the identification method is verified effective and feasible.

How to optimize the slope walking motion by the quadruped walking robot

2015 ◽  
Vol 29 (23) ◽  
pp. 1497-1509 ◽  
Author(s):  
Hirone Komatsu ◽  
Gen Endo ◽  
Ryuichi Hodoshima ◽  
Shigeo Hirose ◽  
Edwardo F. Fukushima
Keyword(s):  
Walking Robot ◽  
Walking Motion ◽  
Quadruped Walking Robot

2A1-B03 Development of a Quadruped Walking Robot to Work on Slopes, TITAN XI : 7th report : Walking Motion on a Undulated Slope Model

2006 ◽  
Vol 2006 (0) ◽  
pp. _2A1-B03_1-_2A1-B03_2
Author(s):  
Takahiro DOI ◽  
Ryuichi HODOSHIMA ◽  
Yasushi FUKUDA ◽  
Shigeo HIROSE ◽  
Toshihito OKAMOTO ◽  
...  
Keyword(s):  
Walking Robot ◽  
Walking Motion ◽  
Quadruped Walking Robot

Phonological and Spatial Processing Abilities in Language- and Reading-Impaired Children

1988 ◽  
Vol 53 (3) ◽  
pp. 316-327 ◽  
Author(s):  
Alan G. Kamhi ◽  
Hugh W. Catts ◽  
Daria Mauer ◽  
Kenn Apel ◽  
Betholyn F. Gentry
Keyword(s):  
Phonological Processing ◽  
Spatial Information ◽  
Normal Children ◽  
Language Impaired ◽  
Word Repetition ◽  
Paper Folding ◽  
Syllable Segmentation ◽  
Processing Abilities ◽  
Impaired Children ◽  
Better Than

In the present study, we further examined (see Kamhi & Catts, 1986) the phonological processing abilities of language-impaired (LI) and reading-impaired (RI) children. We also evaluated these children's ability to process spatial information. Subjects were 10 LI, 10 RI, and 10 normal children between the ages of 6:8 and 8:10 years. Each subject was administered eight tasks: four word repetition tasks (monosyllabic, monosyllabic presented in noise, three-item, and multisyllabic), rapid naming, syllable segmentation, paper folding, and form completion. The normal children performed significantly better than both the LI and RI children on all but two tasks: syllable segmentation and repeating words presented in noise. The LI and RI children performed comparably on every task with the exception of the multisyllabic word repetition task. These findings were consistent with those from our previous study (Kamhi & Catts, 1986). The similarities and differences between LI and RI children are discussed.

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