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Numerical solution of robot arm inverse kinematics and dynamics
Design of a robot capable of moving on a vertical wall
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active d.o.f. actuator algorithm angle biped calculation camera center of gravity command condition control system coordinate system corresponding crawler degrees of freedom detected determined developed device distance dynamic equation error feedback Figure function gravity centre IB magnet industrial robots input inverse kinematics Japan joint Laboratory line-like objects locomotion magnetic fluid manipulator measurement Mechanical Engineering method mobile robot motion motor units movement moving muscle obstacles obtained operation orthosis Osaka Osaka University paper parameters path permanent magnet plane point light source position Press and Robotics pulleys quadruped reachable range robot arm Robotics Society rotational sensor servomechanism shown in Fig simulation Society of Japan speed spring standard circular gait steering sticking unit stiffness support phase surface swung leg Technology terrain TITAN III trajectory transmission system Tsukuba Science City University University of Tokyo vector velocity vibration VNU Science Press walking machine wheels