Whole-Body Control for Multi-Contact Balancing of Humanoid Robots PDF Download
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Author: Bernd Henze
Publisher: Springer Nature
ISBN: 3030872122
Category : Technology & Engineering
Languages : en
Pages : 209
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Book Description
This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Author: Bernd Henze
Publisher: Springer Nature
ISBN: 3030872122
Category : Technology & Engineering
Languages : en
Pages : 209
Get Book Here
Book Description
This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Author: Lynne Robinson
Publisher: Pan Macmillan
ISBN: 9780330393270
Category : Health & Fitness
Languages : en
Pages : 292
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Book Description
Explaining the fundamental Eight Principles through core programmes, this volume provides 'Pilates prescriptions' for your specific needs. It serves as a useful reference for various issues ranging from back pains, posture problems to prevention of common sports injuries and training your children to use their bodies properly.
Author: Lynne Robinson
Publisher: Pan Macmillan Adult
ISBN: 9780330369459
Category : Exercise
Languages : en
Pages : 128
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Book Description
Pilates exercises are safe and effective, working on improving the tone and alignment of the body by targeting the key postural muscles. They are suitable for all, from the first-time exerciser to someone with chronic back pain, and are used by top athletes, actors and performers. Body Control - the Pilates Way introduces this unique system through forty exercises with programmed combinations, fully illustrated with photographs and muscle or joint explanations.
Author: John Evans
Publisher: Psychology Press
ISBN: 9780415306447
Category : Education
Languages : en
Pages : 280
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Book Description
Drawing together some of the latest research on the body and schooling, Body Knowledge and Control offers a sharp and challenging critique of modern day attitudes toward obesity, health, appearance and self-image.
Author: Boehme
Publisher: Academic Press
ISBN: 9780127845791
Category :
Languages : en
Pages : 0
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Book Description
This book will help you assess and treat patients with neurological impairment resulting in dysfunctional or abnormal muscle tone. The material concentrates on achieving upper extremity function for personal autonomy. Because the upper extremities work in synchrony with the rest of the body, the text covers significant aspects of whole body movement as well. Thus, though the book is written by an occupational therapist, physical therapists and speech pathologists will find the information applicable to gait and respiration. This information can be applied to patients of any age or size. The illustrations alternate the use of small and large bodies, so one can generalize visualizations. The intervention strategies presented reflect a strong neurodevelopmental treatment orientation. However, the analysis of component parts of movement and the review of significant aspects of normal and abnormal development have evolved from the integration of anatomical and kinesiological perspectives. Our kinesiology illustrations are intended to help you visualize the position of the muscle and the related skeletal parts. As one provides treatment, these visual images will guide the location and direction of touch.
Author:
Publisher: Delene Kvasnicka
ISBN:
Category :
Languages : en
Pages : 780
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Book Description
Author: United States. Department of the Army
Publisher:
ISBN:
Category : United States
Languages : en
Pages : 582
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Book Description
Author:
Publisher:
ISBN:
Category : Military trucks
Languages : en
Pages : 874
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Book Description
Author: K. Kuiper
Publisher: Springer
ISBN: 0230241654
Category : Language Arts & Disciplines
Languages : en
Pages : 235
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Book Description
Mikhail Bakhtin was right. Humans could not use the languages they know without also learning the genres which govern so much of our social life. These genres frequently consist of rules prescribing the order in which we must say things and formulaic phraseology which prescribes what can and should be said. Native speakers know only a small fraction of the formulaic genres in a speech community. This relativizes the concept of a native speaker in all situations. Koenraad Kuiper illustrates these views with an array of fascinating case studies of engagement notice writers, horse race commentators, weather forecasters, pump aerobics instructors, square dance callers, cartoonists, and Red Guards.
Author: Silviu Ciuta
Publisher: Silviu Ciuta
ISBN:
Category : Computers
Languages : en
Pages : 67
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Book Description
In today's fast-paced, interconnected world, the automotive industry stands at the forefront of technological innovation. Modern vehicles are no longer just mechanical marvels; they have evolved into rolling computers on wheels. This transformation has not only revolutionized the driving experience but has also introduced new challenges and vulnerabilities, chief among them being automotive cybersecurity. The Mechanical Era The roots of the automotive industry trace back to the late 19th century, with pioneers like Karl Benz and Henry Ford introducing the world to the marvels of the motor vehicle. In these early days, cars were purely mechanical contraptions, devoid of any digital components. The idea of a "car hack" was inconceivable as there were no computers or electronic control units (ECUs) to compromise. The Emergence of Digital Control The 20th century brought about a pivotal shift as automotive engineers began incorporating electronic systems for improved performance, safety, and comfort. The introduction of the Engine Control Unit (ECU) marked a significant milestone. ECUs allowed for more precise control over engine functions, optimizing fuel efficiency and emissions. As digital technology became more pervasive, ECUs multiplied and evolved to control various aspects of the vehicle, from anti-lock brakes to airbags. Vehicles were becoming increasingly reliant on software and electronic components. This shift enhanced vehicle performance and opened the door to exciting new features, but it also laid the groundwork for cybersecurity concerns. The First Signs of Vulnerability In the early 21st century, automotive cybersecurity entered the public consciousness. Researchers began uncovering vulnerabilities in vehicles' digital systems. The emergence of keyless entry systems and wireless tire pressure monitoring systems raised concerns. These convenience features, while enhancing the driving experience, also presented opportunities for malicious actors to exploit wireless communications. In 2010, researchers demonstrated the remote hijacking of a car's systems, a watershed moment that alerted the industry to the looming threats. It was a wake-up call for manufacturers to recognize that cars, like any other connected devices, could be hacked. Industry Response and Regulations As the threat landscape evolved, the automotive industry mobilized to address cybersecurity concerns. Manufacturers started implementing security measures in their vehicles, and organizations such as the Society of Automotive Engineers (SAE) began developing standards for automotive cybersecurity. These standards aimed to guide manufacturers in securing their vehicles against potential threats.
