四肢ロボットの安定かつ桟の認識が可能な垂直はしご昇降の運動生成

早大学位記番号:新8018早稲田大

SOFT ROBOT INSPIRED BY OCTOPUS LIKE BEHAVIOR : LIGHT WEIGHT AND EXTENDED RANGE OF MOVEMENT

In this study, we developed a new type of robot that can move on the floor surface, inspired by the movement of an octopus. To realize the new robot, we reviewed the center of gravity and other aspects of the robot, taking into account the ladder-climbing robot, and attempted to reduce the robot\u27s weight. To demonstrate the effectiveness of the new robot, we conducted experiments in which the robot moved on a relatively smooth floor, and were able to achieve effective behavior

LADDER CLIMBING SOFT ROBOT INSPIRED BY OCTOPUS LIKE BEHAVIOR

In this study, we propose a climbing robot inspired by octopus like behavior. The robot has two soft arms inspired by octopus like behavior. The robot can be controlled only two-dimensional control inputs in spite of its many degrees of freedom, and it can grasp various bar and objects. We developed a prototype made of silicone, and experiments were conducted to demonstrate climbing motion over a ladder, aerial ladder and bumpy walls. Results confirmed that the proposed soft arm is effective, and the robot can climb various types of ladders and bumpy walls only two motors

A Stability-Estimator to Unify Humanoid Locomotion: Walking, Stair-Climbing and Ladder-Climbing

The field of Humanoid robotics research has often struggled to find a unique niche that is not better served by other forms of robot. Unlike more traditional industrials robots with a specific purpose, a humanoid robot is not necessarily optimized for any particular task, due to the complexity and balance issues of being bipedal. However, the versatility of a humanoid robot may be ideal for applications such as search and rescue. Disaster sites with chemical, biological, or radiation contamination mean that human rescue workers may face untenable risk. Using a humanoid robot in these dangerous circumstances could make emergency response faster and save human lives. Despite the many successes of existing mobile robots in search and rescue, stair and ladder climbing remains a challenging task due to their form. To execute ladder climbing motions effectively, a humanoid robot requires a reliable estimate of stability. Traditional methods such as Zero Moment Point are not applicable to vertical climbing, and do not account for force limits imposed on end-effectors. This dissertation implements a simple contact wrench space method using a linear combination of contact wrenches. Experiments in simulation showed ZMP equivalence on flat ground. Furthermore, the estimator was able to predict stability with four point contact on a vertical ladder. Finally, an extension of the presented method is proposed based on these findings to address the limitations of the linear combination.Ph.D., Mechanical Engineering and Mechanics -- Drexel University, 201

Crit Rev Biomed Eng

Industrial exoskeletons have been used to assist workers during occupational activities, such as overhead work, tool-use, mobility, stooping/squatting, and/or load carrying in various industries. Despite the promise of reducing the risk of work-related musculoskeletal disorders, there is a lack of sufficient evidence to support the safe and effective use of industrial exoskeletons. To assess the merits and residual risks of various types of exoskeletons in different work settings, more comprehensive evaluation procedures are needed. This review study aims to provide an overview of the existing viable and promising methods for evaluating the effectiveness of industrial exoskeletons. The different evaluation methods are organized into three categories-in vitro, in vivo, and in silico studies. The limitations and challenges in different types of evaluation approaches are also discussed. In summary, this review sheds light on choosing appropriate evaluation approaches and may help with decision-making during the development, evaluation, and application of industrial exoskeletons.20212022-06-15T00:00:00ZCC999999/ImCDC/Intramural CDC HHSUnited States/35695600PMC91995871167

Supplementing Frequency Domain Interpolation Methods for Character Animation

The animation of human characters entails difficulties exceeding those met simulating objects, machines or plants. A person's gait is a product of nature affected by mood and physical condition. Small deviations from natural movement are perceived with ease by an unforgiving audience. Motion capture technology is frequently employed to record human movement. Subsequent playback on a skeleton underlying the character being animated conveys many of the subtleties of the original motion. Played-back recordings are of limited value, however, when integration in a virtual environment requires movements beyond those in the motion library, creating a need for the synthesis of new motion from pre-recorded sequences. An existing approach involves interpolation between motions in the frequency domain, with a blending space defined by a triangle network whose vertices represent input motions. It is this branch of character animation which is supplemented by the methods presented in this thesis, with work undertaken in three distinct areas. The first is a streamlined approach to previous work. It provides benefits including an efficiency gain in certain contexts, and a very different perspective on triangle network construction in which they become adjustable and intuitive user-interface devices with an increased flexibility allowing a greater range of motions to be blended than was possible with previous networks. Interpolation-based synthesis can never exhibit the same motion variety as can animation methods based on the playback of rearranged frame sequences. Limitations such as this were addressed by the second phase of work, with the creation of hybrid networks. These novel structures use properties of frequency domain triangle blending networks to seamlessly integrate playback-based animation within them. The third area focussed on was distortion found in both frequency- and time-domain blending. A new technique, single-source harmonic switching, was devised which greatly reduces it, and adds to the benefits of blending in the frequency domain

Federal Register

Daily publication of the U.S. Office of the Federal Register contains rules and regulations, proposed legislation and rule changes, and other notices, including "Presidential proclamations and Executive Orders, Federal agency documents having general applicability and legal effect, documents required to be published by act of Congress, and other Federal agency documents of public interest" (p. ii). Table of Contents starts on page iii

18th IEEE Workshop on Nonlinear Dynamics of Electronic Systems: Proceedings

Proceedings of the 18th IEEE Workshop on Nonlinear Dynamics of Electronic Systems, which took place in Dresden, Germany, 26 – 28 May 2010.:Welcome Address ........................ Page I Table of Contents ........................ Page III Symposium Committees .............. Page IV Special Thanks ............................. Page V Conference program (incl. page numbers of papers) ................... Page VI Conference papers Invited talks ................................ Page 1 Regular Papers ........................... Page 14 Wednesday, May 26th, 2010 ......... Page 15 Thursday, May 27th, 2010 .......... Page 110 Friday, May 28th, 2010 ............... Page 210 Author index ............................... Page XII

The representation of feminine fear in Sylvia Plath's poetry.

Wong Hiu-wing.Thesis (M.Phil.)--Chinese University of Hong Kong, 2001.Includes bibliographical references (leaves 103-106).Abstracts in English and Chinese.Introduction --- p.1Chapter Chapter 1: --- Fear as a Daughter --- p.9Chapter Chapter 2: --- Fear as a Wife --- p.39Chapter Chapter 3: --- Fear as a Mother --- p.73Conclusion --- p.101Works Cited --- p.10