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This paper describes a method of motion pattern generation for biped humanoid robot to walk like humans or walk with various kind of motions. To realize biped walking avoiding singularity at stretching leg, pattern generation uses predetermined knee joint trajectories. Reduction of DOF by predetermination is complemented by waist motion. The effectiveness(More)
This paper describes the evaluation of three different walking patterns of a biped humanoid robot. Stretch-walking patterns with straight legs for a biped robot are compared with conventional walking patterns with bent legs in terms of energy consumption. This paper discusses walking pattern generation for various walks. To confirm the walking pattern(More)
An extended Kalman filter is used to identify the parameters of an induction motor using measurements of the stator voltages, currents, and rotor speed. A model of the induction motor in the state space and the Kalman filter algorithm are shown. This filter is applied to the parameter identification of an inverter-fed induction motor. A simple and practical(More)
One of the requirements of a fruit harvesting robot is the ability to recognize and locate fruit from the leaf and branch portions; machine vision system is one of the methods used to detect the location of the fruit. This paper showed the development of a machine vision algorithm that would guide an apple harvesting hand prototype. The objectives of this(More)
The proposed method uses a measurement system to determine the parameters of the fundamental and harmonic equivalent circuits of the motor. It is shown that, by considering the frequency characteristics of rotor parameters and the magnetic saturation effect on the exciting inductance, one can predict the starting performance quantitatively.<<ETX>>
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