Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081145
Wonse Jo, Hyeonjun Park, Bumjoo Lee, Dong Han Kim
This paper introduces a violin playing robot that imitates the playing technique of human. A violinist learns how to play through an endless practice. A bowing velocity, bowing force, and sound point are important factors in determining the sound quality. Thus, in this paper, the sound quality has been analyzed in the variable speed using the violin playing robot, where an industrial vertical multi-joint robot arm is used. Fast Fourier transform is used to convert the played sound using a 32-bit microcontroller, and then the result is compared to the natural frequency of the G string. In order to measure the contact force of the violin bow, a two-axis load cell is produced and mounted on the bow handle. This paper also studies the impact speed of the bow on the violin. Lastly, this paper concludes with introducing the violin robot system using auditory feedback.
{"title":"A study on improving sound quality of violin playing robot","authors":"Wonse Jo, Hyeonjun Park, Bumjoo Lee, Dong Han Kim","doi":"10.1109/ICARA.2015.7081145","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081145","url":null,"abstract":"This paper introduces a violin playing robot that imitates the playing technique of human. A violinist learns how to play through an endless practice. A bowing velocity, bowing force, and sound point are important factors in determining the sound quality. Thus, in this paper, the sound quality has been analyzed in the variable speed using the violin playing robot, where an industrial vertical multi-joint robot arm is used. Fast Fourier transform is used to convert the played sound using a 32-bit microcontroller, and then the result is compared to the natural frequency of the G string. In order to measure the contact force of the violin bow, a two-axis load cell is produced and mounted on the bow handle. This paper also studies the impact speed of the bow on the violin. Lastly, this paper concludes with introducing the violin robot system using auditory feedback.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117329442","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081206
O. Ahmed, M. Latief, M. A. Ali, Rini Akmeliawati
In this paper, a new integrated control system via visual-servoing and cascaded proportional derivative (PD) controllers for an autonomous hexacopter is proposed. The spherical image based visual servoing is designed to control the hexacopter to the desired pose with respect to an arbitrary target in three-dimensional (3D) workspace based on images captured. Meanwhile, the cascade-PD controller is designed to stabilize and to control the altitude and heading of the hexacopter. The proposed control strategy is compared with the nested saturation control laws which are adapted to control the horizontal trajectory of the vehicle along X and Y-axes. Simulation results show the ability of the proposed controller in driving the unmanned aerial vehicle (UAV) to the desired pose successfully. The performance of the proposed controllers outperforms the nested saturation controller in tracking a fixed target.
{"title":"Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers","authors":"O. Ahmed, M. Latief, M. A. Ali, Rini Akmeliawati","doi":"10.1109/ICARA.2015.7081206","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081206","url":null,"abstract":"In this paper, a new integrated control system via visual-servoing and cascaded proportional derivative (PD) controllers for an autonomous hexacopter is proposed. The spherical image based visual servoing is designed to control the hexacopter to the desired pose with respect to an arbitrary target in three-dimensional (3D) workspace based on images captured. Meanwhile, the cascade-PD controller is designed to stabilize and to control the altitude and heading of the hexacopter. The proposed control strategy is compared with the nested saturation control laws which are adapted to control the horizontal trajectory of the vehicle along X and Y-axes. Simulation results show the ability of the proposed controller in driving the unmanned aerial vehicle (UAV) to the desired pose successfully. The performance of the proposed controllers outperforms the nested saturation controller in tracking a fixed target.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134354969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081130
Daniel Schmidt, K. Berns
The paper at hand is part of the autonomous excavator project Thor (Terraforming Heavy Outdoor Robot) who's goal is the development of a construction machine which performs landscaping on a construction site without an operator. So far the project mainly focused on the local excavation on one position. Due to the high digging forces the machine permanently changes its position during excavation. Furthermore, the global goal is to shape the complete construction site. Therefore, a final test platform needs to permanently reposition itself on the site. Within this paper the construction site navigation function is described which guarantees safe traveling from one pose to another one. It is based on an extended A* path planning algorithm, executed on a 2D gridmap including region growing for obstacles, including forward and backward movement. In combination with an intelligent path following algorithm the machine proved to safely reach its position with the desired orientation.
{"title":"Construction site navigation for the autonomous excavator Thor","authors":"Daniel Schmidt, K. Berns","doi":"10.1109/ICARA.2015.7081130","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081130","url":null,"abstract":"The paper at hand is part of the autonomous excavator project Thor (Terraforming Heavy Outdoor Robot) who's goal is the development of a construction machine which performs landscaping on a construction site without an operator. So far the project mainly focused on the local excavation on one position. Due to the high digging forces the machine permanently changes its position during excavation. Furthermore, the global goal is to shape the complete construction site. Therefore, a final test platform needs to permanently reposition itself on the site. Within this paper the construction site navigation function is described which guarantees safe traveling from one pose to another one. It is based on an extended A* path planning algorithm, executed on a 2D gridmap including region growing for obstacles, including forward and backward movement. In combination with an intelligent path following algorithm the machine proved to safely reach its position with the desired orientation.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134073603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081167
M. Sarkarati, M. Merri, K. Nergaard, P. Steele
The European Space Agency, ESA, has been working on specifying a set of standardised Telerobotics service interfaces in the context of the METERON project. These Services facilitate integration of new robotic agents into the generic infrastructure of future human-robotic space missions. The METERON Robotic Services have been successfully used for the first time as part of the METERON OPSCOM-2 experiment, during which an ESA astronaut monitored and controlled from the International Space Station (ISS) a car-size rover on the ground via the Delay Tolerant Network (DTN), while the same service interfaces were used on the ground via a different communication protocol to perform distributed monitoring of the activities. At multi-agency level, the Telerobotics working group of the Consultative Committee for Space Data Systems (CCSDS) has similar objective of specifying a set of generalised service interfaces, which shall allow interoperability of robotic agents. The specified METERON Robotic Services constitute an input to this standardisation effort. Our paper elaborates on the concept behind abstracting from the proprietary interfaces of diverse robotic agents and explains the adopted approach for the implementation of the fist set of METERON Robotic Services in a communication and technology independent manner.
{"title":"How to plug-in your rover into a space mission to moon or mars","authors":"M. Sarkarati, M. Merri, K. Nergaard, P. Steele","doi":"10.1109/ICARA.2015.7081167","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081167","url":null,"abstract":"The European Space Agency, ESA, has been working on specifying a set of standardised Telerobotics service interfaces in the context of the METERON project. These Services facilitate integration of new robotic agents into the generic infrastructure of future human-robotic space missions. The METERON Robotic Services have been successfully used for the first time as part of the METERON OPSCOM-2 experiment, during which an ESA astronaut monitored and controlled from the International Space Station (ISS) a car-size rover on the ground via the Delay Tolerant Network (DTN), while the same service interfaces were used on the ground via a different communication protocol to perform distributed monitoring of the activities. At multi-agency level, the Telerobotics working group of the Consultative Committee for Space Data Systems (CCSDS) has similar objective of specifying a set of generalised service interfaces, which shall allow interoperability of robotic agents. The specified METERON Robotic Services constitute an input to this standardisation effort. Our paper elaborates on the concept behind abstracting from the proprietary interfaces of diverse robotic agents and explains the adopted approach for the implementation of the fist set of METERON Robotic Services in a communication and technology independent manner.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116614597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081143
Jason Long, Jim W. Murphy, A. Kapur, D. Carnegie
This paper presents a summary of several of the various types of percussion mechanisms commonly utilized in the field of musical robotics, with a goal of comparing their effectiveness regarding a number of musical outcomes. A testing system was set up to compare the devices and analyze a number of relevant attributes of their performance, such as maximum speed and volume, consistency and latency. The advantages and disadvantages of each of the types of mechanisms are discussed, and suggestions are offered about which types of mechanisms are suitable for various musical contexts.
{"title":"A comparative evaluation of percussion mechanisms for musical robotics applications","authors":"Jason Long, Jim W. Murphy, A. Kapur, D. Carnegie","doi":"10.1109/ICARA.2015.7081143","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081143","url":null,"abstract":"This paper presents a summary of several of the various types of percussion mechanisms commonly utilized in the field of musical robotics, with a goal of comparing their effectiveness regarding a number of musical outcomes. A testing system was set up to compare the devices and analyze a number of relevant attributes of their performance, such as maximum speed and volume, consistency and latency. The advantages and disadvantages of each of the types of mechanisms are discussed, and suggestions are offered about which types of mechanisms are suitable for various musical contexts.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116991554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081174
David Rivas, V. MarceloÁlvarez, Patricio Velasco, Javier Mamarandi, J. Carrillo-Medina, Victor Bautista, Omar Galarza-Barrionuevo, Patricio Reyes-Bedoya, Mayra Erazo-Rodas, Milton Perez, Mónica Huerta
This article focuses on the design and development of a control system for a robotic arm designed at the Universidad de las Fuerzas Armadas, Latacunga extension, by using Dynamixel servomotors. The use of Python software, with advantages and features of being a free programming language, provides the project with reliability and ease of communication with a computer arm. The use of these techniques allow to obtain solutions much cheaper than the current ones by using open source software.
{"title":"BRACON: Control system for a robotic arm with 6 degrees of freedom for education systems","authors":"David Rivas, V. MarceloÁlvarez, Patricio Velasco, Javier Mamarandi, J. Carrillo-Medina, Victor Bautista, Omar Galarza-Barrionuevo, Patricio Reyes-Bedoya, Mayra Erazo-Rodas, Milton Perez, Mónica Huerta","doi":"10.1109/ICARA.2015.7081174","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081174","url":null,"abstract":"This article focuses on the design and development of a control system for a robotic arm designed at the Universidad de las Fuerzas Armadas, Latacunga extension, by using Dynamixel servomotors. The use of Python software, with advantages and features of being a free programming language, provides the project with reliability and ease of communication with a computer arm. The use of these techniques allow to obtain solutions much cheaper than the current ones by using open source software.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134524761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081133
A. Keck, K. L. Knierim, O. Sawodny
An efficient algorithm to generate smooth paths from polygonal lines is presented. The smooth path is used in combination with a trajectory generator to create reference values for the 2DOF control of a multi-sensor measuring system. The algorithm handles large amounts of target points without an increase in computation time and is able to construct a path based on noisy measurement data.
{"title":"SAMMY - an algorithm for efficient computation of a smooth path for reference trajectory generation","authors":"A. Keck, K. L. Knierim, O. Sawodny","doi":"10.1109/ICARA.2015.7081133","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081133","url":null,"abstract":"An efficient algorithm to generate smooth paths from polygonal lines is presented. The smooth path is used in combination with a trajectory generator to create reference values for the 2DOF control of a multi-sensor measuring system. The algorithm handles large amounts of target points without an increase in computation time and is able to construct a path based on noisy measurement data.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127297334","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081197
Max E. Dingler, Jonas H. Pfeiffer, T. Lüth
Among numerous medical devices that generate noise, music is gaining increasing importance in modern operating rooms. Many surgeons perceive music as concentration enhancing during surgery. In safety critical situations instead, e.g. when a medical device emits an alarm, the additional noise exposure induced by music is considered distracting. In this article we present a novel, modular device that turns off music automatically in real time, as soon as a medical device emits an alarm. The device can easily be applied to every common alarm generating medical device and to every music source and pair of speakers, assuming that the player is connected to its speakers via a 3.5 mm audio jack cable. There is no need to modify the respective devices. The device aims at reducing the noise exposure in safety critical situations and thus protecting the patients safety against stress induced mistakes by the operating personnel. Experiments show, that it works faultlessly under common conditions regarding noise exposure in an operating room.
{"title":"A novel real time alarm detecting device for the operating room","authors":"Max E. Dingler, Jonas H. Pfeiffer, T. Lüth","doi":"10.1109/ICARA.2015.7081197","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081197","url":null,"abstract":"Among numerous medical devices that generate noise, music is gaining increasing importance in modern operating rooms. Many surgeons perceive music as concentration enhancing during surgery. In safety critical situations instead, e.g. when a medical device emits an alarm, the additional noise exposure induced by music is considered distracting. In this article we present a novel, modular device that turns off music automatically in real time, as soon as a medical device emits an alarm. The device can easily be applied to every common alarm generating medical device and to every music source and pair of speakers, assuming that the player is connected to its speakers via a 3.5 mm audio jack cable. There is no need to modify the respective devices. The device aims at reducing the noise exposure in safety critical situations and thus protecting the patients safety against stress induced mistakes by the operating personnel. Experiments show, that it works faultlessly under common conditions regarding noise exposure in an operating room.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129109052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081213
T. Ogitsu, M. Omae
This study proposes a vehicle-following control system for personal electric vehicles (EV). Recently, projects aimed at using personal vehicles to solve vehicle transportation problems associated with overcrowding in cities and depopulation in mountain villages have been under way in several regions in Japan. This study was conducted to contribute to improving mobility in depopulated regions by applying vehicle-following control technology to personal vehicles. In this paper, the issues associated with introducing personal vehicles in depopulated regions are summarized by explaining the background of personal vehicles and that of depopulated regions in Japan. Related studies that we have conducted to address these issues are summarized. The details of vehicle-following control technology that is targeted at controlling vehicle-to-vehicle time using wireless communication are explained. Evaluation experiments conducted using small EVs are described. The results of the evaluation experiments confirm the efficient following performance achieved with the proposed vehicle-following control system.
{"title":"Design and experimental testing of vehicle-following control for small electric vehicles with communication","authors":"T. Ogitsu, M. Omae","doi":"10.1109/ICARA.2015.7081213","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081213","url":null,"abstract":"This study proposes a vehicle-following control system for personal electric vehicles (EV). Recently, projects aimed at using personal vehicles to solve vehicle transportation problems associated with overcrowding in cities and depopulation in mountain villages have been under way in several regions in Japan. This study was conducted to contribute to improving mobility in depopulated regions by applying vehicle-following control technology to personal vehicles. In this paper, the issues associated with introducing personal vehicles in depopulated regions are summarized by explaining the background of personal vehicles and that of depopulated regions in Japan. Related studies that we have conducted to address these issues are summarized. The details of vehicle-following control technology that is targeted at controlling vehicle-to-vehicle time using wireless communication are explained. Evaluation experiments conducted using small EVs are described. The results of the evaluation experiments confirm the efficient following performance achieved with the proposed vehicle-following control system.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115567693","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081168
H. Khan, R. Featherstone, D. Caldwell, C. Semini
Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design goals are to achieve (1) a wide range of motion for bigger foot workspace which will increase rough terrain walking performance by increasing the number of reachable footholds for each step, (2) optimized joint torque curve since torque output is related to joint angle if linear actuators like pistons are used. In this paper, we focus on the knee joint and propose the adaptation and optimization of the so-called isogram mechanism. It exhibits a changeable instantaneous center of rotation (CICR), similar to a human knee joint. We will show how an optimization of design parameters lead to a knee joint design that satisfies the above-mentioned goals. The main contributions of this paper are the kinematic and torque analysis of the isogram mechanism that is actuated by a linear actuator; the optimization of the mechanism's design parameters; a comparison between the proposed knee joint with the hinge-type knee joint of the quadruped robot HyQ; and experimental results of a proof-of-concept prototype leg featuring the proposed mechanism.
{"title":"Bio-inspired knee joint mechanism for a hydraulic quadruped robot","authors":"H. Khan, R. Featherstone, D. Caldwell, C. Semini","doi":"10.1109/ICARA.2015.7081168","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081168","url":null,"abstract":"Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design goals are to achieve (1) a wide range of motion for bigger foot workspace which will increase rough terrain walking performance by increasing the number of reachable footholds for each step, (2) optimized joint torque curve since torque output is related to joint angle if linear actuators like pistons are used. In this paper, we focus on the knee joint and propose the adaptation and optimization of the so-called isogram mechanism. It exhibits a changeable instantaneous center of rotation (CICR), similar to a human knee joint. We will show how an optimization of design parameters lead to a knee joint design that satisfies the above-mentioned goals. The main contributions of this paper are the kinematic and torque analysis of the isogram mechanism that is actuated by a linear actuator; the optimization of the mechanism's design parameters; a comparison between the proposed knee joint with the hinge-type knee joint of the quadruped robot HyQ; and experimental results of a proof-of-concept prototype leg featuring the proposed mechanism.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127351254","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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