2D bipedal walking with knees and feet: A hybrid control approach

In this paper, we consider an anthropomorphically-inspired hybrid model of a bipedal robot with locking knees and feet in order to develop a control law that results in human-like walking. The presence of feet results in periods of full actuation and periods of underactuation during the course of a step. Properties of each of these phases of walking are utilized in order to achieve a stable walking gait. In particular, we will show that using controlled symmetries in the fully-actuated domains coupled with ¿partial¿ controlled symmetries and local ankle control laws in the underactuated domains yields stable walking; this result is possible due to the amount of time which the biped spends in the fully-actuated domains. The paper concludes with simulation results along with a comparison of these results to human walking data

3D bipedal walking with knees and feet: A hybrid geometric approach

Motivated by the goal of obtaining more-anthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. The main observation of this paper is that functional Routhian Reduction can be used to extend two-dimensional walking to three dimensions-even in the presence of periods of underactuation-by decoupling the sagittal and coronal dynamics of the 3D biped. Specifically, we assume the existence of a control law that yields stable walking for the 2D sagittal component of the 3D biped. The main result of the paper is that utilizing this controller together with “reduction control laws” yields walking in three dimensions. This result is supported through simulation

Food-chain transfer of zinc from contaminated Urtica dioica and Acer pseudoplatanus L. to Microlophium carnosum and Drepanosiphum platanoidis Schrank

This study examines the food-chain transfer of Zn from two plant species, Urtica dioica (stinging nettle) and Acer pseudoplatanus (sycamore maple), into their corresponding aphid species, Microlophium carnosum and Drepanosiphum platanoidis. The plants were grown in a hydroponic system using solutions with increasing concentrations of Zn from 0.02 to 41.9 mg Zn/l. Above-ground tissue concentrations in U. dioica and M. carnosum increased with increasing Zn exposure (p < 0.001). Zn concentrations in A. pseudoplatanus also increased with solution concentration from the control to the 9.8 mg Zn/l solution, above which concentrations remained constant. Zn concentrations in both D. platanoidis and the phloem tissue of A. pseudoplatanus were not affected by the Zn concentration in the watering solution. It appears that A. pseudoplatanus was able to limit Zn transport in the phloem, resulting in constant Zn exposure to the aphids. Zn concentrations in D. platanoidis were around three times those in M. carnosum. Concentrations of Zn in two aphid species are dependant on species and exposure

System Identification and Control of Valkyrie through SVA--Based Regressor Computation

This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Coriolis-centrifugal and gravity terms for the dynamics of a robot are computed using spatial inertia tensors. With the assumption that the link lengths or the distance between the joint axes are accurately known, it will be shown that inertial properties of a robot can be directly evaluated from the inertia tensor. An algorithm is proposed to evaluate the regressor, yielding a run time of O(n^2). The efficiency of this algorithm yields a means for online system identification via the SVA--based regressor and, as a byproduct, a method for accurate model-based control. Experimental validation of the proposed method is provided through its implementation in three case studies: offline identification of a double pendulum and a 4-DOF robotic leg, and online identification and control of a 4-DOF robotic arm

3D bipedal walking with knees and feet: A hybrid geometric approach

Motivated by the goal of obtaining more-anthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. The main observation of this paper is that functional Routhian Reduction can be used to extend two-dimensional walking to three dimensions-even in the presence of periods of underactuation-by decoupling the sagittal and coronal dynamics of the 3D biped. Specifically, we assume the existence of a control law that yields stable walking for the 2D sagittal component of the 3D biped. The main result of the paper is that utilizing this controller together with “reduction control laws” yields walking in three dimensions. This result is supported through simulation

2D bipedal walking with knees and feet: A hybrid control approach

In this paper, we consider an anthropomorphically-inspired hybrid model of a bipedal robot with locking knees and feet in order to develop a control law that results in human-like walking. The presence of feet results in periods of full actuation and periods of underactuation during the course of a step. Properties of each of these phases of walking are utilized in order to achieve a stable walking gait. In particular, we will show that using controlled symmetries in the fully-actuated domains coupled with ¿partial¿ controlled symmetries and local ankle control laws in the underactuated domains yields stable walking; this result is possible due to the amount of time which the biped spends in the fully-actuated domains. The paper concludes with simulation results along with a comparison of these results to human walking data

System Identification and Control of Valkyrie through SVA--Based Regressor Computation

This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Coriolis-centrifugal and gravity terms for the dynamics of a robot are computed using spatial inertia tensors. With the assumption that the link lengths or the distance between the joint axes are accurately known, it will be shown that inertial properties of a robot can be directly evaluated from the inertia tensor. An algorithm is proposed to evaluate the regressor, yielding a run time of O(n^2). The efficiency of this algorithm yields a means for online system identification via the SVA--based regressor and, as a byproduct, a method for accurate model-based control. Experimental validation of the proposed method is provided through its implementation in three case studies: offline identification of a double pendulum and a 4-DOF robotic leg, and online identification and control of a 4-DOF robotic arm

Exploring Profitable, Sustainable Livestock Businesses in an Increasingly Variable Climate

Livestock production systems will need to change in many regions of the world to meet the dual challenges of adaptation to a changing climate and reducing net greenhouse gas (GHG) emissions. The ‘Nexus project’ is exploring these options using seven case studies in eastern Australia spanning a range of production systems from semi-arid beef production in northern Australia to mixed beef and sheep production in cool temperate climates of southern Australia. Regional reference groups, made up of 4-6 local farmers and advisers, identified a series of farm systems changes that could be made to meet these challenges. Options were categorised under four themes: feedbase, animal genetics and management, management and technology, and transformational options. More options for adaptation were identified compared to options to mitigate greenhouse gas emission of sequestered carbon. Adaptation options focussed on maximising pasture production in variable climates, and having efficient and flexible animal production systems. A focus on infrastructure for water and feed storage and use was also observed. Options to reduce GHG emissions focussed on reducing feed demand and sequestering carbon in soils and trees, and limited possibilities for feed additives were noted in these pasture-based systems. Further work will explore how combinations of these options will impact production, profit and greenhouse gas emissions from these production systems in current and future climate scenarios

Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction

Three-dimensional humanlike bipedal walking is obtained through a hybrid control strategy which combines geometric reduction with human-inspired control. Functional Routhian reduction decouples the sagittal and coronal dynamics of a biped, thereby reducing the control design problem to sagittal motion. Experimental human kinematics data have shown that certain outputs on a human's kinematics follow a canonical human function : Human-inspired controllers are designed based on this function. The parameters of these functions are found through optimization by trying to make them as close to the human data as possible while simultaneously forming a partial hybrid zero dynamics under feedback linearization. PD control is used in these controllers to track the human functions resulting in stable walking in both two- and three-dimensional simulations