The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for t...
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ISBN:
(数字)9781728173955
ISBN:
(纸本)9781728173962
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human's limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone.
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through ges...
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Compared with their three-dimensional counterparts, low-dimensional metal halide perovskites with periodic inorganic/organic structures have shown promising stability and hysteresis-free electrical performance, which ...
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In this paper, spider chart based pictographic image comparison is suggested for determination of gait cycle time for walking speed estimation. Ground reaction force data and ankle's position information from huma...
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This paper presents a spherical mobile robot which is capable of executing rolling and walking motions. The proposed robot can also transform into a quadruped based on the terrain conditions. The advantage of combinin...
This paper presents a spherical mobile robot which is capable of executing rolling and walking motions. The proposed robot can also transform into a quadruped based on the terrain conditions. The advantage of combining these motions in the robot is that it improves the collision recovery and manoeuvrability over multiple terrains. Various conceptual designs are developed, and concept scoring is carried out to find the best design. The kinematic analysis is presented for the chosen design using the Denavit-Hartenberg (D-H) method. The inverse kinematics is solved using MATLAB and the corresponding robot configurations are plotted. The structural analysis of the robot is also completed using ANSYS Workbench.
One of the significant challenges in bone tissue engineering is the fabrication of highly porous scaffolds with interconnected pores and appropriate mechanical properties. Commonly available synthetic scaffolds are ma...
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Robust vision restoration of underwater images remains a challenge. Owing to the lack of well-matched underwater and in-air images, unsupervised methods based on the cyclic generative adversarial framework have been w...
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Bone engineering presents an alternative approach to repair and regenerate a damaged tissue. For bone repair and bone tissue engineering applications, bioactive materials with different degradation and mechanical prop...
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Constrained Iterative Linear Quadratic Regulator (CILQR), a variant of ILQR, has been recently proposed for motion planning problems of autonomous vehicles to deal with constraints such as obstacle avoidance and refer...
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