Incorporating a third CCD camera into a conventional binocular is verified to be very helpful to solve translational motion. The extra device not only provides more image information, but also plays a significant role regarding the solution issue. In this paper, a novel algorithm to recover parameters for translational motion using such a parallel trinocular system is presented. This approach overcomes the difficulty of matrix singularity happened in binocular. In order to fit into application requirements, a compact close form solution is also derived. This solution owns some important features, such as no matrix manipulation, no danger of matrix singularity, and easy to apply. To validate this close form solution, extensive experiments were conducted It is concluded that the movement magnitude in the depth direction has great influence on the estimation performance of the translational motion. Simulations in a perturbed environment are also performed to study the effect of possible image uncertainty. Compared with a conventional binocular, the presented parallel trinocular system demonstrates excellent performance on recovering parameters of translational motion under the circumstance of limited motion along the depth direction.
{"title":"Determining 3-D Translational Motion by the Parallel Trinocular","authors":"Gwo-Long Lin, C. Cheng","doi":"10.1109/ICICIC.2009.174","DOIUrl":"https://doi.org/10.1109/ICICIC.2009.174","url":null,"abstract":"Incorporating a third CCD camera into a conventional binocular is verified to be very helpful to solve translational motion. The extra device not only provides more image information, but also plays a significant role regarding the solution issue. In this paper, a novel algorithm to recover parameters for translational motion using such a parallel trinocular system is presented. This approach overcomes the difficulty of matrix singularity happened in binocular. In order to fit into application requirements, a compact close form solution is also derived. This solution owns some important features, such as no matrix manipulation, no danger of matrix singularity, and easy to apply. To validate this close form solution, extensive experiments were conducted It is concluded that the movement magnitude in the depth direction has great influence on the estimation performance of the translational motion. Simulations in a perturbed environment are also performed to study the effect of possible image uncertainty. Compared with a conventional binocular, the presented parallel trinocular system demonstrates excellent performance on recovering parameters of translational motion under the circumstance of limited motion along the depth direction.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123176383","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}
Adaptiveness is one of the target functions of research on autonomous robotic systems. However, the adaptiveness realized in the robotic research so far is quite limited and specific to sample problems and systems configurations. On the other hand, all the animals from primitive ones to insects or mammals have commonly the adaptiveness to behave in an unexpected environment. Such adaptive behaviors are the intelligent sensory-motor functions, and most essential and indispensable ones for animals to survive. It must be effective to consult biological systems to find the general design principle to realize the adaptiveness in artificial systems as well as robotic systems. However, the secret of the mechanism to realize the adaptiveness in animals is not yet thoroughly revealed even in biology as well as brain science and neurophysiology. Such an adaptive function is considered to emerge from the interaction of the body, brain, and environment, which is caused by a subject to act or move. We call the intelligence for generating adaptive motor function mobiligence. The Mobiligence project started from 2005, which was accepted as a five-year program of Scientific Research on Priority Areas of Grant-in-Aid Scientific Research from the Japanese Ministry of Education, Culture, Sports, Science and Technology (MEXT). The present project is designed to investigate the mechanisms of mobiligence by collaborative research in biology and engineering from systematic and synthetic (constructive) approach. In this talk, the abstract of the project is introduced in contrast to adaptive behaviors achieved in the robotic research so far.
{"title":"Mobiligence: Emergence of Adaptive Motor Function through Interaction among the Body, Brain and Environment","authors":"H. Asama, J. Ota","doi":"10.20965/jrm.2007.p0363","DOIUrl":"https://doi.org/10.20965/jrm.2007.p0363","url":null,"abstract":"Adaptiveness is one of the target functions of research on autonomous robotic systems. However, the adaptiveness realized in the robotic research so far is quite limited and specific to sample problems and systems configurations. On the other hand, all the animals from primitive ones to insects or mammals have commonly the adaptiveness to behave in an unexpected environment. Such adaptive behaviors are the intelligent sensory-motor functions, and most essential and indispensable ones for animals to survive. It must be effective to consult biological systems to find the general design principle to realize the adaptiveness in artificial systems as well as robotic systems. However, the secret of the mechanism to realize the adaptiveness in animals is not yet thoroughly revealed even in biology as well as brain science and neurophysiology. Such an adaptive function is considered to emerge from the interaction of the body, brain, and environment, which is caused by a subject to act or move. We call the intelligence for generating adaptive motor function mobiligence. The Mobiligence project started from 2005, which was accepted as a five-year program of Scientific Research on Priority Areas of Grant-in-Aid Scientific Research from the Japanese Ministry of Education, Culture, Sports, Science and Technology (MEXT). The present project is designed to investigate the mechanisms of mobiligence by collaborative research in biology and engineering from systematic and synthetic (constructive) approach. In this talk, the abstract of the project is introduced in contrast to adaptive behaviors achieved in the robotic research so far.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124557636","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340301
Junzhi Yu, Y. Fang, Long Wang, Lizhong Liu
In this paper, we investigate visual tracking of multiple biomimetic robotic fish which swim together to achieve some specific tasks in underwater cluttered environments. Taking account of surrounding background and kinematic characteristics of swimming fish, a novel color-index-based identification approach is presented, which is capable of identifying many fish rapidly in a processing cycle. Meanwhile, some anti-jamming measures including optical correction and foil superposition are made to ensure a robust tracking. Finally, all tracking operations are optimized in coding with the aid of parallelized SIMD technologies embedded in processors. Our proposed visual system can experimentally track as large as an amount of eight robotic fish and one obstacle within 24.143 milliseconds, which can fully satisfy the requirements of cooperative control.
{"title":"Visual Tracking of Multiple Robotic Fish for Cooperative Control","authors":"Junzhi Yu, Y. Fang, Long Wang, Lizhong Liu","doi":"10.1109/ROBIO.2006.340301","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340301","url":null,"abstract":"In this paper, we investigate visual tracking of multiple biomimetic robotic fish which swim together to achieve some specific tasks in underwater cluttered environments. Taking account of surrounding background and kinematic characteristics of swimming fish, a novel color-index-based identification approach is presented, which is capable of identifying many fish rapidly in a processing cycle. Meanwhile, some anti-jamming measures including optical correction and foil superposition are made to ensure a robust tracking. Finally, all tracking operations are optimized in coding with the aid of parallelized SIMD technologies embedded in processors. Our proposed visual system can experimentally track as large as an amount of eight robotic fish and one obstacle within 24.143 milliseconds, which can fully satisfy the requirements of cooperative control.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115406626","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340296
M. Korayem, Mohsen Shokri
In this paper, a computational method for obtaining maximum dynamic load carrying capacity (DLCC) for the 6-UPS Stewart platform manipulator is developed. In this method, the manipulator is supposed to be a flexible manipulator and the joint actuator torque capacity and accuracy of motion are considered as the major limiting factors in determining the maximum payload. The maximum dynamic payload carrying capacity of manipulator is presented while dynamic model of a typical hydraulic actuator is used in the joint actuator force capacity for a given trajectory. Effects of flexibility of prismatic joints are considered in static situation to show considerable effects of joint's deflection on motion accuracy of 6UPS-Stewart platform. This method can be used for determining the maximum dynamic payload which acting on end-effector for mechanical design of manipulator and optimized selection of actuator, such as machine tools based on hexapod mechanism.
{"title":"Maximum Dynamic Load Carrying Capacity of 6UPS-Stewart Platform flexible joint Manipulator","authors":"M. Korayem, Mohsen Shokri","doi":"10.1109/ROBIO.2006.340296","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340296","url":null,"abstract":"In this paper, a computational method for obtaining maximum dynamic load carrying capacity (DLCC) for the 6-UPS Stewart platform manipulator is developed. In this method, the manipulator is supposed to be a flexible manipulator and the joint actuator torque capacity and accuracy of motion are considered as the major limiting factors in determining the maximum payload. The maximum dynamic payload carrying capacity of manipulator is presented while dynamic model of a typical hydraulic actuator is used in the joint actuator force capacity for a given trajectory. Effects of flexibility of prismatic joints are considered in static situation to show considerable effects of joint's deflection on motion accuracy of 6UPS-Stewart platform. This method can be used for determining the maximum dynamic payload which acting on end-effector for mechanical design of manipulator and optimized selection of actuator, such as machine tools based on hexapod mechanism.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125497553","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340313
Gang Song, Shuxiang Guo
A tele-rehabilitation system is introduced in this paper. The system consists of a master system and a slave system. The master system includes a haptic device (PHANTOM Omni), and the slave system includes a 6-DOF robot arm. The patient hand is fixed to the robot arm, so the therapist can move the patient hand along the predefined track through tele-operation. According to the vision feedback and force feedback, the therapist can adjust his operation. Furthermore, a force tracking experiment has also been performed, and the tracking result can be used to appraise the tele-rehabilitation performance. From the tele-operation experimental result, we can see that the system has good operability, and the agility of upper limbs has been improved greatly.
{"title":"Development of a Novel Tele-rehabilitation System","authors":"Gang Song, Shuxiang Guo","doi":"10.1109/ROBIO.2006.340313","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340313","url":null,"abstract":"A tele-rehabilitation system is introduced in this paper. The system consists of a master system and a slave system. The master system includes a haptic device (PHANTOM Omni), and the slave system includes a 6-DOF robot arm. The patient hand is fixed to the robot arm, so the therapist can move the patient hand along the predefined track through tele-operation. According to the vision feedback and force feedback, the therapist can adjust his operation. Furthermore, a force tracking experiment has also been performed, and the tracking result can be used to appraise the tele-rehabilitation performance. From the tele-operation experimental result, we can see that the system has good operability, and the agility of upper limbs has been improved greatly.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126715711","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340201
J. Kobayashi, F. Ohkawa
Effect of an oscillatory motion of a manipulator on large force generation is investigated in this paper. Two methods for oscillating a manipulator are examined using simulations. One of the methods simply produces a harmonic wave as a command for a manipulator. When the frequency of the harmonic wave is appropriately adjusted, the manipulator produces a larger force than a manipulator driven by a traditional command. However, this method needs a big power motor for joint driving. To reduce the power of motor, the other method uses a nonlinear oscillator that has a frequency entrainment property. The entrainment property effects reduction of necessary power to oscillate a manipulator.
{"title":"Efficient Oscillation Method with Nonlinear Oscillator for Large Force Generation of Manipulator Exploiting Oscillatory Motion","authors":"J. Kobayashi, F. Ohkawa","doi":"10.1109/ROBIO.2006.340201","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340201","url":null,"abstract":"Effect of an oscillatory motion of a manipulator on large force generation is investigated in this paper. Two methods for oscillating a manipulator are examined using simulations. One of the methods simply produces a harmonic wave as a command for a manipulator. When the frequency of the harmonic wave is appropriately adjusted, the manipulator produces a larger force than a manipulator driven by a traditional command. However, this method needs a big power motor for joint driving. To reduce the power of motor, the other method uses a nonlinear oscillator that has a frequency entrainment property. The entrainment property effects reduction of necessary power to oscillate a manipulator.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128756253","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340264
Yu Ding, Qidan Zhu, Zhuoyi Xing, Lei Li
There are Gauss noise and impulse noise in the great mass of the input images of the robot vision system simultaneously. And it is difficult to get rid of Gauss noise and impulse noise only by traditional filter at the same time. Based on analyzing traditional filter algorithm, the adaptive-fuzzy algorithm is adopted in this paper. Firstly, the algorithm demarcates impulse noise and separates the two kinds of noise in each part by noise detection. Then the adaptive median filter is applied to remove the impulse noise. Based on filtering the impulse noise, combining histogram and membership function in fuzzy control, a new algorithm is given to filter Gauss noise. Finally there is a brachylogy algorithm for median filter to improve the practicability. In real time application on robots, the new filter method shows better locating performance than traditional algorithm in real time image with Gauss noise and impulse noise.
{"title":"An Adaptive-Fuzzy Filter Algorithm for Vision Preprocessing","authors":"Yu Ding, Qidan Zhu, Zhuoyi Xing, Lei Li","doi":"10.1109/ROBIO.2006.340264","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340264","url":null,"abstract":"There are Gauss noise and impulse noise in the great mass of the input images of the robot vision system simultaneously. And it is difficult to get rid of Gauss noise and impulse noise only by traditional filter at the same time. Based on analyzing traditional filter algorithm, the adaptive-fuzzy algorithm is adopted in this paper. Firstly, the algorithm demarcates impulse noise and separates the two kinds of noise in each part by noise detection. Then the adaptive median filter is applied to remove the impulse noise. Based on filtering the impulse noise, combining histogram and membership function in fuzzy control, a new algorithm is given to filter Gauss noise. Finally there is a brachylogy algorithm for median filter to improve the practicability. In real time application on robots, the new filter method shows better locating performance than traditional algorithm in real time image with Gauss noise and impulse noise.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124564774","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340303
K. Ioi, H. Maeda, Ryo Sato
We present simultaneous estimating the position and the mechanical impedance of unknown surfaces using a new robotic finger. Successfully treating such a simultaneous sensing device will contribute to reducing the inspection time required for industrial products, and could also be useful for detecting unknown surfaces such as in disaster zones. We propose a new robotic finger that is equipped with a force sensor and a resonant mechanical element on its fingertip. The force sensor is used as a surface detector to sense the reaction force from unknown surfaces, and the resonant mechanical part acts as a scaling amplifier to estimate the mechanical impedance of unknown surfaces. We verify the usefulness of our robotic finger by experiments.
{"title":"Estimation of Surface Properties Using A New Robotic Finger","authors":"K. Ioi, H. Maeda, Ryo Sato","doi":"10.1109/ROBIO.2006.340303","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340303","url":null,"abstract":"We present simultaneous estimating the position and the mechanical impedance of unknown surfaces using a new robotic finger. Successfully treating such a simultaneous sensing device will contribute to reducing the inspection time required for industrial products, and could also be useful for detecting unknown surfaces such as in disaster zones. We propose a new robotic finger that is equipped with a force sensor and a resonant mechanical element on its fingertip. The force sensor is used as a surface detector to sense the reaction force from unknown surfaces, and the resonant mechanical part acts as a scaling amplifier to estimate the mechanical impedance of unknown surfaces. We verify the usefulness of our robotic finger by experiments.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121261588","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340358
Qing-Hao Meng, Juncai Li, Fei Li, M. Zeng
An improved ant colony algorithm (ACA) is put forward to solve the mobile robot odor localization (MROL) problem. The so-called MROL means localizing an odor source with mobile robots. The improved algorithm is realized through three phases, which are genetic algorithm (GA) based local search, global search and pheromone update. The GA ensures that the optimal or sub-optimal points can be found within local areas. The global search phase consists of random and probability based searches. The random search can prevent the ACA from getting into local optimum. Detailed implementation procedure of the improved ACA for the MROL is presented. Two Gaussian concentration models are used to describe the odor distribution. Simulation results show that the robots can asymptotically approach and finally determine the odor source.
{"title":"Mobile Robots Odor Localization with an Improved Ant Colony Algorithm","authors":"Qing-Hao Meng, Juncai Li, Fei Li, M. Zeng","doi":"10.1109/ROBIO.2006.340358","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340358","url":null,"abstract":"An improved ant colony algorithm (ACA) is put forward to solve the mobile robot odor localization (MROL) problem. The so-called MROL means localizing an odor source with mobile robots. The improved algorithm is realized through three phases, which are genetic algorithm (GA) based local search, global search and pheromone update. The GA ensures that the optimal or sub-optimal points can be found within local areas. The global search phase consists of random and probability based searches. The random search can prevent the ACA from getting into local optimum. Detailed implementation procedure of the improved ACA for the MROL is presented. Two Gaussian concentration models are used to describe the odor distribution. Simulation results show that the robots can asymptotically approach and finally determine the odor source.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"40 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114115611","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 : 2006-12-17DOI: 10.1109/ROBIO.2006.340304
Kyeong Yong Kim, O. Kwon, J. Yeon, J. Park
Despite the fact that a running legged robot can be simply modeled by a spring loaded inverted pendulum and that the trajectory of its center of gravity is approximated as a ball on the rebound, the motions of its swinging leg and supporting leg are very important to run stably. In many previous works, trajectories of legs could easily deviate from their workspace of legs and thus make the robots unstable. In this paper, for stability in running, we propose a method to generate trajectories of legs based on an ellipse and to modify joint angles and angular velocities of the legs during touchdowns and take-offs depending on the running speed. To evaluate the performance and the effectiveness of this method, a series of computer simulation of a galloping 4-legged robot in the sagittal plane are performed. Their results show that the proposed method is effective in generating stable galloping locomotion.
{"title":"Elliptic Trajectory Generation for Galloping Quadruped Robots","authors":"Kyeong Yong Kim, O. Kwon, J. Yeon, J. Park","doi":"10.1109/ROBIO.2006.340304","DOIUrl":"https://doi.org/10.1109/ROBIO.2006.340304","url":null,"abstract":"Despite the fact that a running legged robot can be simply modeled by a spring loaded inverted pendulum and that the trajectory of its center of gravity is approximated as a ball on the rebound, the motions of its swinging leg and supporting leg are very important to run stably. In many previous works, trajectories of legs could easily deviate from their workspace of legs and thus make the robots unstable. In this paper, for stability in running, we propose a method to generate trajectories of legs based on an ellipse and to modify joint angles and angular velocities of the legs during touchdowns and take-offs depending on the running speed. To evaluate the performance and the effectiveness of this method, a series of computer simulation of a galloping 4-legged robot in the sagittal plane are performed. Their results show that the proposed method is effective in generating stable galloping locomotion.","PeriodicalId":366890,"journal":{"name":"2006 IEEE International Conference on Robotics and Biomimetics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114730491","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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