Inverted pendulums are typical examples of unstable system and have been used for the verification designed control systems and/or education in laboratories. In particular, a double inverted pendulum has known as good example to show power modern theory. this paper we consider about robust state transfer method pendulum, i.e., swing up from hanging position upright position. First, propose based on energy principle. Secondly, more which is realized through limit cycle presented. The...

This paper describes the means of tuning-up method walking parameters to go up and down stairs for a biped robot with leg mechanisms using Stewart platforms. It has been confirmed that stroke range use could be reduced by tuning waist yaw trajectory preset ZMP trajectories motion pattern generation. By developed method, experiment involving movement stair rise 250 mm certain experiments ascending descending carrying human were successfully completed. Through these experiments, effectiveness...

In this paper, we describe the system design and control of a miniature robotic rat, WR-5, which is intended to interact with laboratory rats. WR-5 can perform rearing, mounting, rotating, body-grooming actions as naturally live mature rats because its multilink structure. Experimental results confirm that stimulate stressing fear in by performing mounting action, shows remarkable progress when compared previous generation these robots. Additionally, virtual impedance model-based method used...

Introduction Transferring a patient from one place to another is of the most strenuous works in nursing care. To address this issue, we proposed concept for lifting assistance device that uses two cables perform operations such as translation, rotation, and stay. It facilitates direct touch between caregiver care receiver, allowing intuitive adjustments position posture based on caregiver’s intention, detected through variations cable tension. Methods investigate effectiveness concept,...

This paper describes the mechanism of biped locomotor, WL-16 (Waseda Leg No. 16), its compliance control method and experiments carrying a human. robot is developed based on WL-15's basic design using new gimbals' mechanisms with small backlash linear actuators dealing heavy payload wide movable range. Walking human are successfully completed effectiveness WL-16's confirmed.

We study the lambda hypernuclei and neutron stars in terms of relativistic mean field theory. A special emphasis is placed on importance lambda-omega tensor coupling, which affects largely spin-orbit splitting. The presently available data are not good enough to identify its strength. find that star property sensitive strength observational mass provides necessity coupling.

This paper describes the development of a novel multi-wheel stair-climbing wheelchair. The necessity for mobility aid technology elderly and handicapped people that has "minimal invasiveness use in an historical environment" is described. With this goal mind, prototype wheelchair having function resulting from transformable wheeled four-bar linkages proposed. mechanical design, principle operation statics proposed mechanism are thoroughly illustrated. basic performance been confirmed through...

This paper describes the design of a battery driven bipedal robot, which uses 6-DOF parallel mechanisms for its each leg. We have designed this considering robot as leg module that is sufficient practical use multi-purpose locomotor system. applicable to various fields, such medical, welfare and entertainment. In we reduced weight maximum extent, taking advantage features mechanism where rigidity high. Using developed locomotor, dynamic walking with step time 0.96 sec/step length 0.2 m/step...

Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed energy efficiency on flat ground not so effective compared with wheeled locomotion. In this paper, we propose a biped robot be able or wheel according conditions. For locomotion, WS-2 (Waseda Shoes -No. 2) developed which composed of DC motor, spherical caster two rubber pads each foot. attached feet WL-16 Leg 16) that world's first biped-walking capable carrying human. Also, path planning...

We have developed a novel assembly task partner robot to support workers in their task. This system, PaDY (in-time Parts/tools Delivery You robot), delivers parts and tools worker by recognizing the worker's behavior car production line; thus, improving efficiency of work reducing physical workload for picking tools. For this purpose, it is necessary plan trajectory before moves next location another assembling First prediction method using Markov model discretized space into cells proposed,...

In this paper, we study the behavioral response of rats to a robotic rat during multi-rat interaction. Experiments are conducted in an open-field where called WR-5 is put together with three laboratory rats. following one (target), while avoiding other two (outside observers) The characteristics each target evaluated by scoring its locomotor activity and frequencies performing rearing, body grooming mounting actions. Additionally, frequency being mounted also measured. Experimental results...

Abstract alpha 2-Plasmin inhibitor is the most important physiological of fibrinolysis; hence, its deficiency results in a severe hemorrhagic diathesis. We have cloned and characterized mutant 2-plasmin gene from an individual homozygous for deficiency. By sequencing all coding exons exon-intron boundaries gene, trinucleotide deletion exon VII that Glu137 was identified. designated this variant as Okinawa. Using DNA samples amplified with polymerase chain reaction, hybridization analysis by...

This paper describes a control and structure of battery driven bipedal robot, WL-15(Waseda Leg-15), which has 6-DOF parallel mechanism. WL-15 been designed as multi-purpose locomotion robotic systems. robot is controlled by the QNX real-time operating system. Using Math Works' SIMULINK OPAL-RT's RT-LAB executed on Windows NT target systems, software pattern generator are developed. A walking capable dealing with various dynamic proposed tested indoors outdoors using WL-15. Dynamic biped...

Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the are difficult be used human-carrying walking because of modeling errors. In this paper, a landing pattern modification method is proposed which based nonlinear compliance control. Theoretical displacements calculated from compared actual displacements, while robot's foot touches slightly result, height terrain detected, and preset modified. Using method, robot...

This paper describes an experimental method for evaluating the stiffness of a biped walking robot. A reliable procedure is proposed as based on simplified version Milli-CaTraSys (Milli Cassino Tracking System) with three wire encoders and two six-axis force-torque sensors. measures both applied wrench resulting compliant displacements. Experiments conducted prototype vehicle WL-16RII (Waseda Leg - No. 16 Refined II) under different dynamic conditions provided useful information design control.

This paper proposes a new car transportation system, iCART II (intelligent Cooperative Autonomous Robot Transporters - type II), based on "a-robot-for-a-wheel" concept. A prototype MRWheel (a Mobile for Wheel), is designed and downsized less than the half of conventional robot used in Transporters). In general, it very difficult mobile robots such as to move desired positions without motion errors caused by slipping, etc. Therefore we propose decentralized control algorithm coordination...