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Development of the concurrent process oriented language COL
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active d.o.f. actuator algorithm angle application biped calculated camera center of gravity constraint Control Engineers control system coordinate system corresponding degrees of freedom detection determined developed distance distance transformation dynamic electrical English version received equation error feedback Figure force function geodesic dome gravity centre industrial robots input inverse kinematics Japanese joint Laboratory laser line-like objects linear locomotion magnetic manipulator measurement Mechanical Engineering method mobile robot motion motor movement moving muscle obtained operation Osaka Osaka University paper parameters path plane point light source position Press and Robotics Proc pulleys quadruped reachable range robot arm Robotics Society rotation sensor servo servomechanism shadow shown in Fig signal simulation Society of Japan speed standard circular gait surface surface normals swung leg terrain TITAN III torque trajectory University University of Tokyo vector velocity VNU Science Press