In this paper, we propose a selection method of android's gaze behavior for the naturalness of android. To enable robot selects a proper behavior of gaze by itself, we implemented an artificial emotion model, an e...
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This paper is introduced a quadruped walking robot for transportation, developed by KITECH (koreainstitute of Industrial technology). This robot is composed of four legs, engine, power package and hydraulic rotary ac...
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This paper is introduced a quadruped walking robot for transportation, developed by KITECH (koreainstitute of Industrial technology). This robot is composed of four legs, engine, power package and hydraulic rotary actuators. It is installed an engine and small-size/high-power hydraulic rotary actuators for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The size of this robot is 1.2m x 1m x 0.4m (height, length and width, respectively) and the degree of freedom is fifteen. Also it can carry over 100 kg totally including 60 kg payload. For this, it is developed a hydraulic rotary actuator that is light weight and compact size. The total control system comprises a main controller system, a hydraulic servo system and an engine/hydraulic power control system. And, in order to control balance, the kinematic model of quadruped robot is analyzed and the pattern generation method using the virtual model is applied.
In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of t...
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Hydraulic actuation has the advantage of substantial power and wide range of speed with a small size and low weight. Because of this advantage, hydraulic actuation is used often for a robot dealing with heavy-weight m...
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Studying the real-time dynamics of strongly correlated systems poses significant challenges, which have recently become more manageable thanks to advances in density matrix renormalization group (DMRG) and tensor netw...
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Critical limb ischemia(CLI)is a devastating disease characterized by the progressive blockage of blood *** the paracrine effect of growth factors in stem cell therapy made it a promising angiogenic therapy for CLI,poo...
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Critical limb ischemia(CLI)is a devastating disease characterized by the progressive blockage of blood *** the paracrine effect of growth factors in stem cell therapy made it a promising angiogenic therapy for CLI,poor cell survival in the harsh ischemic microenvironment limited its ***,an imperative need exists for a stem-cell delivery method that enhances cell ***,a collagen microgel(CMG)cell-delivery scaffold(40×20μm)was fabricated via micro-fragmentation from collagen-hyaluronic acid polyionic complex to improve transplantation *** human adipose-derived stem cells(hASCs)with CMG enabled integrin receptors to interact with CMG to form injectable 3-dimensional constructs(CMG-hASCs)with a microporous microarchitecture and enhanced mass ***-hASCs exhibited higher cell survival(p<0.0001)and angiogenic potential in tube formation and aortic ring angiogenesis assays than cell *** of CMG-hASCs intramuscularly into CLI mice increased blood perfusion and limb salvage ratios by 40%and 60%,respectively,compared to cell aggregate-treated *** immunofluorescent analysis revealed that transplanted CMG-hASCs have greater muscle regenerative and angiogenic potential,with enhanced cell survival than cell aggregates(p<0.05).Collectively,we propose CMG as a cell-assembling platform and CMG-hASCs as promising therapeutics to treat CLI.
This paper presents a novel method for natural changing of emotional expression. Although formal behavior generation method using the simulated annealing algorithm selects various behaviors, there are weak correlation...
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The purpose of this study is to answer the research question, "How do we conquer the growth limits of capitalism?" Based on existing studies on growth limits of capitalism by Marx and Schumpeter as well as t...
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This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern ge...
This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to operate outdoors with the static and dynamic mobility. The efficiency and performance of the proposed are verified through the computer simulation and experiments using qRT-1/-2. In experiments, qRT which is a 2-legged and 2-wheeled robot and a front drive system vehicle with hydraulic linear actuators is used. The robot has trotted gaits at speeds up to 1.3 m/s on the even surface, walked up and down the 20 degree inclines, and walked at 0.7 m/s on the uneven surface. Also it has carried over 100 kg of the total weights including over 40 kg of the payload.
In this paper we present an output feedback nonlinear control for position tracking of electro-hydraulic systems (EHSs). Although previous nonlinear control methods improved the position tracking performance of EHS, a...
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