Download e-book for kindle: Experimental Robotics: The 14th International Symposium on by M. Ani Hsieh, Oussama Khatib, Vijay Kumar

By M. Ani Hsieh, Oussama Khatib, Vijay Kumar

ISBN-10: 3319237772

ISBN-13: 9783319237770

ISBN-10: 3319237780

ISBN-13: 9783319237787

The foreign Symposium on Experimental Robotics (ISER) is a sequence of bi-annual conferences that are prepared in a rotating type round North the United States, Europe and Asia/Oceania. The target of ISER is to supply a discussion board for study in robotics that specializes in novelty of theoretical contributions confirmed by way of experimental effects. The conferences are conceived to collect, in a small crew atmosphere, researchers from worldwide who're within the vanguard of experimental robotics examine. This designated reference provides the most recent advances around the a variety of fields of robotics, with rules that aren't in simple terms conceived conceptually but in addition explored experimentally. It collects robotics contributions at the present advancements and new instructions within the box of experimental robotics, that are in keeping with the papers provided on the 14th ISER hung on June 15-18, 2014 in Marrakech and Essaouira, Morocco. This current fourteenth version of Experimental Robotics edited through M. Ani Hsieh, Oussama Khatib, and Vijay Kumar bargains a suite of a wide variety of subject matters in box and human-centered robotics.

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Clark Abstract Among the challenges faced when developing dynamic, legged platforms are the manner and mechanisms utilized to modulate system energy. A great deal of success has been demonstrated by low degree of freedom platforms that rely on either pure torsion or thrusting to provide the requisite locomotive power. However, means of synergizing these approaches and the potential benefits thereof are not well understood. In this study, the effects of torsional and prismatic energy addition on running performance are investigated, both in isolation and as a hybrid approach.

2 Mechanisms for Speed As discussed in the simulation results, for a given nominal leg angle, running speed seems to correlate more strongly to leg sweep than to leg stroke. A likely mechanism for this behavior results from the orientation of the velocity vector with respect to the forces produced by the prismatic and torsional actuators, as depicted in Fig. 4. For prismatic actuation, extension of the leg during stance results in a force along the axis of the leg. For most nominal leg angles, this force is the negative direction immediately following touch-down and then progresses to accelerate the body forward after mid-stance.

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Experimental Robotics: The 14th International Symposium on Experimental Robotics by M. Ani Hsieh, Oussama Khatib, Vijay Kumar

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