By Bernd Mahr, Huanye Sheng
The 2008 TUB-SJTU joint workshop on “Autonomous structures – Self-Organization, administration, and keep watch over” was once hung on October 6, 2008 at Shanghai Jiao Tong college, Shanghai, China. The workshop, subsidized by means of Shanghai Jiao Tong collage and Technical collage of Berlin introduced jointly scientists and researchers from either universities to provide and talk about the newest development on self sustaining structures and its purposes in different parts. independent platforms are designed to combine machines, computing, sensing, and software program to create clever platforms in a position to interacting with the complexities of the genuine international. self sufficient platforms symbolize the actual embodiment of computing device intelligence. themes of curiosity comprise, yet will not be constrained to thought and modeling for self reliant platforms; association of self sufficient structures; studying and conception; advanced structures; multi-agent platforms; robotics and keep watch over; purposes of self sustaining platforms.
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Additional resources for Autonomous Systems Self-Organization, Management, and Control: Proceedings of the 8th International Workshop held at Shanghai Jiao Tong University, Shanghai, China, October 6-7, 2008
14] proposed the method to use the robot dynamics directly by making the point-contact between a robot and the ground. In this paper, we propose how to generate an efficient walking pattern based on Passive Inverted Pendulum Model (PIPM) to tackle this problem. The proposed pattern generation utilizes the dynamics of the PIPM for the sagittal and lateral planes separately, so the biped robot can have a dynamic walking with a reduced ankle power, as depicted in . It exhibits an up-and-down motion of the upper body, which is similar to that in human walk.
In Fig. 1 the helicopter is shown during hovering and forward flight. The current orientation frame of the helicopter is given by the three vectors f1 , f2 and f3 . To simplify matters the rotation of the helicopter around f3 is neglected (the change of the helicopter heading); this includes the torque TMR 3 around f3 generated by rotation of the main rotor, as well as all forces and torques generated by the tail rotor. This simplification can be made without loss of generality, because it was shown in [3, 4] that the control of the helicopter heading can be separated from the control of the remaining orientation and the translation.
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