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Author: Christine Chevallereau
Publisher: John Wiley & Sons
ISBN: 1118622979
Category : Technology & Engineering
Languages : en
Pages : 249
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Book Description
This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.
Author: Christine Chevallereau
Publisher: John Wiley & Sons
ISBN: 1118622979
Category : Technology & Engineering
Languages : en
Pages : 249
Get Book Here
Book Description
This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.
Author: Karim Abdel-Malek
Publisher: Academic Press
ISBN: 0124046010
Category : Computers
Languages : en
Pages : 296
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Book Description
Simulate realistic human motion in a virtual world with an optimization-based approach to motion prediction. With this approach, motion is governed by human performance measures, such as speed and energy, which act as objective functions to be optimized. Constraints on joint torques and angles are imposed quite easily. Predicting motion in this way allows one to use avatars to study how and why humans move the way they do, given specific scenarios. It also enables avatars to react to infinitely many scenarios with substantial autonomy. With this approach it is possible to predict dynamic motion without having to integrate equations of motion -- rather than solving equations of motion, this approach solves for a continuous time-dependent curve characterizing joint variables (also called joint profiles) for every degree of freedom. - Introduces rigorous mathematical methods for digital human modelling and simulation - Focuses on understanding and representing spatial relationships (3D) of biomechanics - Develops an innovative optimization-based approach to predicting human movement - Extensively illustrated with 3D images of simulated human motion (full color in the ebook version)
Author: Kaisa Kaukiainen
Publisher: BoD - Books on Demand
ISBN: 9523590154
Category : Literary Criticism
Languages : en
Pages : 546
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Book Description
The essays in this edited volume, written in English and French, tackle the intriguing problems of fear and safety by analysing their various meanings and manifestations in literature and other narrative media. The articles bring forth new, cross-cultural interpretations on fear and safety through examining what kinds of genre-specific means of world-making narratives use to express these two affectivities. The articles also show how important it is to study these themes in order to understand challenges in times of global threats, such as the climate crisis. The main themes of the book are approached from various theoretical perspectives as related to their literary and cultural representations. Recent trends in research, such as affect and risk theory, serve as the basis for the discussion. The articles in the volume also draw from disciplines such as gender studies and trauma studies to examine the threats posed by collective fears and aggression on individuals' lives and propose ways of coping with fear. These themes are addressed also in articles analysing new adaptations of old myths that retell stories of the past. Many of the articles in the volume discuss apocalyptic and dystopian narratives that currently permeate the entire cultural landscape. Dystopian narratives do not only deal with future threats, such as totalitarianism, technocracy, or environmental disasters, but also suggest alternative ways of being and new hopes in the form of political resistance.
Author: Miroslav Krstic
Publisher: Wiley-Interscience
ISBN:
Category : Computers
Languages : en
Pages : 592
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Book Description
Using a pedagogical style along with detailed proofs and illustrative examples, this book opens a view to the largely unexplored area of nonlinear systems with uncertainties. The focus is on adaptive nonlinear control results introduced with the new recursive design methodology--adaptive backstepping. Describes basic tools for nonadaptive backstepping design with state and output feedbacks.
Author: Shiqing Fang
Publisher:
ISBN: 9783185076084
Category :
Languages : en
Pages : 119
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Book Description
Author: Chitra Banerjee Divakaruni
Publisher: Simon and Schuster
ISBN: 1476792011
Category : Fiction
Languages : en
Pages : 240
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Book Description
"A new novel from the author of Oleander Girl, a novel in stories, built around crucial moments in the lives of 3 generations of women in an Indian/Indian-American Family"--
Author: Nadine Brisson
Publisher: Editions Quae
ISBN: 2759201694
Category : Technology & Engineering
Languages : en
Pages : 300
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Book Description
The STICS crop model has been developed since 1996 at INRA in collaboration with other research and technical institutes. The model syntheses, illustrates and concretizes an important part of the French agronomic knowledge as a point of view on the field and cropping systems working. The formalisations of the STICS crop model presented in this book can be considered as references used in the framework of crop sciences. The book arrangement relies on the way the model designs the crop-soil system functioning, each chapter being devoted to a set of important functions such as growth initiation, yield onset, water uptake, transformation of organic matter etc. One chapter deals with the cropping system and long term simulations and the final chapter is about the involvement of the user in terms of option choices and parameterization. If this book is mainly intended for scientists who use the STICS model, it can also be useful for agronomists, crop modellers, students and technicians looking for elementary formalizations of the crop-soil system functioning.
Author: Huibert Kwakernaak
Publisher: Wiley-Interscience
ISBN:
Category : Science
Languages : en
Pages : 630
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Book Description
"This book attempts to reconcile modern linear control theory with classical control theory. One of the major concerns of this text is to present design methods, employing modern techniques, for obtaining control systems that stand up to the requirements that have been so well developed in the classical expositions of control theory. Therefore, among other things, an entire chapter is devoted to a description of the analysis of control systems, mostly following the classical lines of thought. In the later chapters of the book, in which modern synthesis methods are developed, the chapter on analysis is recurrently referred to. Furthermore, special attention is paid to subjects that are standard in classical control theory but are frequently overlooked in modern treatments, such as nonzero set point control systems, tracking systems, and control systems that have to cope with constant disturbances. Also, heavy emphasis is placed upon the stochastic nature of control problems because the stochastic aspects are so essential." --Preface.
Author:
Publisher: Springer
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 332
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Book Description
Research in the area of adaptive control, nonlinear system and other advanced control techniques have been carried out in parallel and rather independently. In the last few years, these techniques have been used to improve robot motion accuracy. The aim of the workshop is to present the most recent contributions in the field of robot control and to compare how these advanced control techniques have been used to solve similar problems. The topics covered include: Adaptation and learning.- Control of systems with nonholonomic constraints (mobile robots).- Robot control in the task space.- Control of flexible robots (joints and structure).- Observer-based control.- Control through kinematic singularities.
Author: Émilie du Châtelet
Publisher:
ISBN: 9781693596483
Category :
Languages : en
Pages : 58
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Book Description
The amazing scientist, mathematician, philosopher Émilie du Châtelet (1706-49) has widely been hailed as a rare female intellectual in the Enlightenment. At the same time, her own ideas and contributions remain largely unknown and her writings are rarely read. This is unfortunate, since she has interesting contributions to and explanations of physics, metaphysics, religion, translation, the equality of the sexes, and ethics.This book is a selection of du Châtelet's philosophical writings, in new English translations: -Foreword to "Foundations of Physics"-On the Principles of Our Knowledge (From "Foundations of Physics")-On the Existence of God (From "Foundations of Physics")-On Liberty-Translator's Preface to Mandeville's "Fable of the Bees"-On the Resurrection of the Dead (from "Examinations of the Bible")-On Happiness
