# A CPG-based Decentralized Control of a Quadruped Robot Inspired by True Slime Mold

Save this PDF as:

Size: px
Start display at page:

## Transcription

5 Fig. 9. Sum of discrepancies when an external force is applied to the right shoulder during a walk. Although the discrepancy increases temporarily, it is reduced after about three cycles. Fig. 11. Simulation result when the forelegs are longer than the hindlegs: (a) gait diagram and (b) oscillator phases during one cycle. Fig. 10. Snapshots when the forelegs are longer than the hindlegs. underlying animal s locomotion more accurately because of the following reasons: First, in the phase reset scheme, the mechanical system reacts to its control system normally only when the foot starts to contact the ground, i.e., the beginning of the stance phase. In contrast, the mechanical system and the control system are interacting continuously during the stance phase in our method. Due to this continuous interaction, the system immediately adapts to environmental changes as long as at least one of its legs is in the stance phase. Further, such continuous interaction seems physically more plausible. Second, the phase reset scheme uses only qualitative information about the foot s contact (on or off), whereas our design methodology uses quantitative information describing how each foot feels the ground reaction force. Containing this quantitative information in the sensory feedback term in (2) allows each leg to recognize the positional relationship between the legs, i.e., how the legs support the body at that moment, without an expensive cost of computation. For example, the shift from the stance to the swing phase in the jth leg influences the phase of the ith oscillator ( j i) through the increase of N i. Very interestingly, although we have intensively consid- Fig. 12. Snapshots when the hindlegs are longer than the forelegs. ered the design scheme using the concept of discrepancy function, the proposed model can also be interpreted from totally different viewpoint. Equations (2) and (3) can be rewritten by the form of an active rotator model [12] as φ i = ω a i cosφ i, (4) where a i = εn i is a parameter which determines the dynamics of the phase φ i : φ i is always positive, i.e., oscillatory regime, for a i < ω while φ i is attracted into a steady stable solution i.e., excitatory regime, for a i > ω (see Fig. 14). Thus, switching between the oscillatory regime and the excitatory regime is induced by the change of the ground reaction force N i. We believe that this perspective will also lead to deeper understanding of the mechanisms underlying versatile animal locomotions. 4932

### The Influence of Friction on Gait and Energy Efficiency of the Walking Robot Based on Rhythmic Control

The Influence of Friction on Gait and Energy Efficiency of the Walking Robot Based on Rhythmic Control H. Takemura, J. Ueda, Y. Matsumoto, T. Ogasawara Nara Institute of Science and Technology, Takayama-cho,

### Toward a Human-like Biped Robot with Compliant Legs

Book Title Book Editors IOS Press, 2003 1 Toward a Human-like Biped Robot with Compliant Legs Fumiya Iida a,b,1, Yohei Minekawa a Juergen Rummel a and Andre Seyfarth a a Locomotion Laboratory, University

### Motion Control of a Bipedal Walking Robot

Motion Control of a Bipedal Walking Robot Lai Wei Ying, Tang Howe Hing, Mohamed bin Hussein Faculty of Mechanical Engineering Universiti Teknologi Malaysia, 81310 UTM Skudai, Johor, Malaysia. Wylai2@live.my

### Toward a Human-like Biped Robot with Compliant Legs

Book Title Book Editors IOS Press, 23 1 Toward a Human-like Biped Robot with Compliant Legs Fumiya Iida a,b,1, Yohei Minekawa a Juergen Rummel a and Andre Seyfarth a a Locomotion Laboratory, University

### Generation of adaptive splitbelt treadmill walking by a biped robot using nonlinear oscillators with phase resetting

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems September 25-30, 2011. San Francisco, CA, USA Generation of adaptive splitbelt treadmill walking by a biped robot using nonlinear

### Dynamic locomotion of a biomorphic quadruped Tekken robot using various gaits: walk, trot, free-gait and bound

Applied Bionics and Biomechanics Vol. 6, No. 1, March 29, 63 71 Dynamic locomotion of a biomorphic quadruped Tekken robot using various gaits: walk, trot, free-gait and bound Y. Fukuoka a and H. Kimura

### Passive compliant quadruped robot using central pattern generators for locomotion control

Passive compliant quadruped robot using central pattern generators for locomotion control Simon Rutishauser, Alexander Spröwitz, Ludovic Righetti and Auke Jan Ijspeert Biologically Inspired Robotics Group,

### Development and Test of a Model for the Cheetah Robot

Semester Project at the Biologically Inspired Robotics Group, EPF Lausanne Spring 8 Development and Test of a Model for the Cheetah Robot Martin Riess June 6, 28 1 Abstract This project aims at implementing

### ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots

ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots Jong H. Park School of Mechanical Engineering Hanyang University Seoul, 33-79, Korea email:jong.park@ieee.org Yong K. Rhee School of

### Simulation Study on Acquisition Process of Locomotion by using an Infant Robot

21 Simulation Study on Acquisition Process of Locomotion by using an Infant Robot Katsuyoshi Tsujita and Tatsuya Masuda Dept. of Electrical and Electronic Systems Engineering, Osaka Institute of Technology

### From Passive to Active Dynamic 3D Bipedal Walking - An Evolutionary Approach -

From Passive to Active Dynamic 3D Bipedal Walking - An Evolutionary Approach - Steffen Wischmann and Frank Pasemann Fraunhofer Institute for Autonomous Intelligent Systems (AiS) Schloss Birlinghoven, 53754

### Spider Robot for Motion with Quasistatic. Force Constraints

Spider Robot for Motion with Quasistatic Force Constraints Shraga Shoval, Elon Rimon and Amir Shapira Technion - Israel Institute of Technology - Haifa, Israel 32000. Abstract In quasistatic motions the

### w 13 w 31 w 43 w 34 w 34 swing phase virtual springdamper (a) Neural oscillator network for Patrush y i. desired state present state y i < 0

Adaptive Dynamic Walking of a Quadruped Robot 'Tekken' on Irregular Terrain Using a Neural System Model Y. Fukuoka, H. Kimura, Y. Hada and K. Takase Univ. of Electro-Communications, Chofu, Tokyo 182-8585,

### Spring Locomotion Concepts. Roland Siegwart, Margarita Chli, Martin Rufli. ASL Autonomous Systems Lab. Autonomous Mobile Robots

Spring 2016 Locomotion Concepts Locomotion Concepts 01.03.2016 1 Locomotion Concepts: Principles Found in Nature ASL Autonomous Systems Lab On ground Locomotion Concepts 01.03.2016 2 Locomotion Concepts

### OPTIMAL TRAJECTORY GENERATION OF COMPASS-GAIT BIPED BASED ON PASSIVE DYNAMIC WALKING

OPTIMAL TRAJECTORY GENERATION OF COMPASS-GAIT BIPED BASED ON PASSIVE DYNAMIC WALKING Minseung Kim Dept. of Computer Science Illinois Institute of Technology 3201 S. State St. Box 2082 Chicago IL 60616

### Stable Upright Walking and Running using a simple Pendulum based Control Scheme

1 Stable Upright Walking and Running using a simple Pendulum based Control Scheme H.-M. MAUS, J. RUMMEL and A. SEYFARTH Lauflabor Locomotion Laboratory, University of Jena, Germany E-mail: moritz.maus@uni-jena.de

### Evolving Gaits for the Lynxmotion Hexapod II Robot

Evolving Gaits for the Lynxmotion Hexapod II Robot DAVID TOTH Computer Science, Worcester Polytechnic Institute Worcester, MA 01609-2280, USA toth@cs.wpi.edu, http://www.cs.wpi.edu/~toth and GARY PARKER

### Evolving Bipedal Locomotion with Genetic Programming A Preliminary Report

Evolving Bipedal Locomotion with Genetic Programming A Preliminary Report Sooyol Ok Cooperative Graduate Programs, University of Tsukuba 1-1-4, Umezono, Tsukuba Ibaraki, 305-8568, Japan sooyol@etl.go.jp

### Kungl Tekniska Högskolan

Centre for Autonomous Systems Kungl Tekniska Högskolan hic@kth.se March 22, 2006 Outline Wheel The overall system layout : those found in nature found in nature Difficult to imitate technically Technical

### 1. A tendency to roll or heel when turning (a known and typically constant disturbance) 2. Motion induced by surface waves of certain frequencies.

Department of Mechanical Engineering Massachusetts Institute of Technology 2.14 Analysis and Design of Feedback Control Systems Fall 2004 October 21, 2004 Case Study on Ship Roll Control Problem Statement:

### The Physics of Lateral Stability 1

The Physics of Lateral Stability 1 This analysis focuses on the basic physics of lateral stability. We ask Will a boat heeled over return to the vertical? If so, how long will it take? And what is the

### The Incremental Evolution of Gaits for Hexapod Robots

The Incremental Evolution of Gaits for Hexapod Robots Abstract Gait control programs for hexapod robots are learned by incremental evolution. The first increment is used to learn the activations required

### RUNNING ON SOFT GROUND: SIMPLE, ENERGY-OPTIMAL DISTURBANCE REJECTION

CLAWAR 2012 Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, MD, USA, 23 26 July 2012 543 RUNNING ON SOFT

### Controlling Velocity In Bipedal Walking: A Dynamic Programming Approach

Controlling Velocity In Bipedal Walking: A Dynamic Programming Approach Thijs Mandersloot and Martijn Wisse Delft University of Technology Delft, Netherlands thijs.mandersloot@gmail.com, m.wisse@tudelft.nl

### Kinematic Differences between Set- and Jump-Shot Motions in Basketball

Proceedings Kinematic Differences between Set- and Jump-Shot Motions in Basketball Hiroki Okubo 1, * and Mont Hubbard 2 1 Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma,

### Simulation of the Hybtor Robot

Simulation of the Hybtor Robot Pekka Aarnio, Kari Koskinen and Sami Salmi Information and Computer Systems in Automation Helsinki University of Technology ABSTRACT A dynamic rigid body simulation model

### Biomimetic Walking Robot Scorpion: Control and Modeling

Preprint: to appear in Robotics and Autonomous Systems journal (Special Issue: Best papers from SIRS00) Biomimetic Walking Robot Scorpion: Control and Modeling Bernhard Klaassen, Ralf Linnemann, Dirk Spenneberg,

### Supplementary Figure 1 An insect model based on Drosophila melanogaster. (a)

Supplementary Figure 1 An insect model based on Drosophila melanogaster. (a) Side and ventral images of adult female flies used to calculate the sizes of body and leg segments. Scale bar is 0.3 mm. Green,

### WIND-INDUCED LOADS OVER DOUBLE CANTILEVER BRIDGES UNDER CONSTRUCTION

WIND-INDUCED LOADS OVER DOUBLE CANTILEVER BRIDGES UNDER CONSTRUCTION S. Pindado, J. Meseguer, J. M. Perales, A. Sanz-Andres and A. Martinez Key words: Wind loads, bridge construction, yawing moment. Abstract.

### Robot motion by simultaneously wheel and leg propulsion

Robot motion by simultaneously wheel and leg propulsion Aarne Halme, Ilkka Leppänen, Miso Montonen, Sami Ylönen Automation Technology Laboratory Helsinki University of Technology PL 5400, 02015 HUT, Finland

### LOCOMOTION CONTROL CYCLES ADAPTED FOR DISABILITIES IN HEXAPOD ROBOTS

LOCOMOTION CONTROL CYCLES ADAPTED FOR DISABILITIES IN HEXAPOD ROBOTS GARY B. PARKER and INGO CYLIAX Department of Computer Science, Indiana University, Bloomington, IN 47405 gaparker@cs.indiana.edu, cyliax@cs.indiana.edu

### GEA FOR ADVANCED STRUCTURAL DYNAMIC ANALYSIS

SMART SOLUTIONS FOR VIBRATION MONITORING GEA FOR ADVANCED STRUCTURAL DYNAMIC ANALYSIS ANALYSIS OF CIVIL STRUCTURES - EXPO MERLATA PEDESTRIAN BRIDGE ABSTRACT Civil structures and in particular bridges and

### AN ISOLATED SMALL WIND TURBINE EMULATOR

AN ISOLATED SMALL WIND TURBINE EMULATOR Md. Arifujjaman Graduate Student Seminar: Master of Engineering Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John s, NL, Canada

### Co-evolutionary Approach to Design of Robotic Gait

Co-evolutionary Approach to Design of Robotic Gait Jan Černý and Jiří Kubalík Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Technická 2, 166 27 Prague 6, Czech

### Robot Walking with Genetic Algorithms

Robot Walking with Genetic Algorithms Bente Reichardt 14. December 2015 Bente Reichardt 1/52 Outline Introduction Genetic algorithms Quadruped Robot Hexapod Robot Biped Robot Evaluation Bente Reichardt

### Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints *

Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints * Ramzi Sellaouti *1, Olivier Stasse *2, Shuuji Kajita *3, Kazuhito Yokoi *1 and Abderrahmane Kheddar *2 *1 JRL, AIST *2 JRL, CNRS

### Golf Ball Impact: Material Characterization and Transient Simulation

12 th International LS-DYNA Users Conference Blast/Impact(1) Golf Ball Impact: Material Characterization and Transient Simulation Xiaohu Liu, David Quinn and Jorgen Bergström Veryst Engineering, LLC 47A

### Gait Evolution for a Hexapod Robot

Gait Evolution for a Hexapod Robot Karen Larochelle, Sarah Dashnaw, and Gary Parker Computer Science Connecticut College 270 Mohegan Avenue New London, CT 06320 @conncoll.edu Abstract

### Emergency Stop Algorithm for Walking Humanoid Robots

Emergency Stop Algorithm for Walking Humanoid Robots Mitsuharu Morisawa, Shuuji Kajita, Kensuke Harada, Kiyoshi Fujiwara Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa National Institute of Advanced Industrial

### High Swept-back Delta Wing Flow

Advanced Materials Research Submitted: 2014-06-25 ISSN: 1662-8985, Vol. 1016, pp 377-382 Accepted: 2014-06-25 doi:10.4028/www.scientific.net/amr.1016.377 Online: 2014-08-28 2014 Trans Tech Publications,

### A NEW GOLF-SWING ROBOT MODEL UTILIZING SHAFT ELASTICITY

Journal of Sound and Vibration (1998) 17(1), 17 31 Article No. sv981733 A NEW GOLF-SWING ROBOT MODEL UTILIZING SHAFT ELASTICITY S. SUZUKI Department of Mechanical System Engineering, Kitami Institute of

### INTERACTION OF STEP LENGTH AND STEP RATE DURING SPRINT RUNNING

INTERACTION OF STEP LENGTH AND STEP RATE DURING SPRINT RUNNING Joseph P. Hunter 1, Robert N. Marshall 1,, and Peter J. McNair 3 1 Department of Sport and Exercise Science, The University of Auckland, Auckland,

### AERODYNAMIC CHARACTERISTICS OF SPIN PHENOMENON FOR DELTA WING

ICAS 2002 CONGRESS AERODYNAMIC CHARACTERISTICS OF SPIN PHENOMENON FOR DELTA WING Yoshiaki NAKAMURA (nakamura@nuae.nagoya-u.ac.jp) Takafumi YAMADA (yamada@nuae.nagoya-u.ac.jp) Department of Aerospace Engineering,

### Numerical study on the wrist action during the golf downswing

Numerical study on the wrist action during the golf downswing C.C. Chen, Y. Inoue and K. Shibara Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Kochi-prefecture,

### Dynamic Stability of Ships in Waves

Gourlay, T.P. & Lilienthal, T. 2002 Dynamic stability of ships in waves. Proc. Pacific 2002 International Maritime Conference, Sydney, Jan 2002. ABSTRACT Dynamic Stability of Ships in Waves Tim Gourlay

### Biped Walking Robot Control System Design

69 Biped Walking Robot Control System Design Jian Fang Abstract For biped walking robot posture instability problems presented this paper, ZMP gait planning algorithm and a time division multiplexing servo

### The Design and Performance of DASH

The Design and Performance of DASH Paul Birkmeyer Electrical Engineering and Computer Sciences University of California at Berkeley Technical Report No. UCB/EECS-2010-75 http://www.eecs.berkeley.edu/pubs/techrpts/2010/eecs-2010-75.html

### EVOLVING HEXAPOD GAITS USING A CYCLIC GENETIC ALGORITHM

Evolving Hexapod Gaits Using a Cyclic Genetic Algorithm Page 1 of 7 EVOLVING HEXAPOD GAITS USING A CYCLIC GENETIC ALGORITHM GARY B. PARKER, DAVID W. BRAUN, AND INGO CYLIAX Department of Computer Science

### Foot Placement in the Simplest Slope Walker Reveals a Wide Range of Walking Solutions

Foot Placement in the Simplest Slope Walker Reveals a Wide Range of Walking Solutions Pranav A. Bhounsule Abstract We show that the simplest slope walker can walk over wide combinations of step lengths

### Asymmetric Passive Dynamic Walker

11 IEEE International Conference on Rehabilitation Robotics Rehab Week Zurich, ETH Zurich Science City, Switzerland, June 29 - July 1, 11 Asymmetric Passive Dynamic Walker Craig Honeycutt, John Sushko,

### Inertial compensation for belt acceleration in an instrumented treadmill

Inertial compensation for belt acceleration in an instrumented treadmill Sandra K. Hnat, Antonie J. van den Bogert Department of Mechanical Engineering, Cleveland State University Cleveland, OH 44115,

### New Energy-saving Air Compressors

FEATURED ARTICLES Environmentally Conscious Technology in Industrial Fields Aiming for a Low-carbon Society New Energy-saving Air Compressors Air compressors produce compressed air and have a wide variety

### APPLICATION OF GPS RTK TECHNIQUE TO SHIP HULL TRAJECTORY DETERMINATION DURING LAUNCHING

POSTER PAPER SESSION APPLICATION OF GPS RTK TECHNIQUE TO SHIP HULL TRAJECTORY DETERMINATION DURING LAUNCHING Zofia Rzepecka, Alojzy Wasilewski Institute of Geodesy, University of Warmia and Mazury in Olsztyn

### Entrainment in ballroom dances: The influence of the pair in the synchronization with the music

International Symposium on Performance Science ISBN 978-2-9601378-0-4 The Author 2013, Published by the AEC All rights reserved Entrainment in ballroom dances: The influence of the pair in the synchronization

### A PHASE-AMPLITUDE ITERATION SCHEME FOR THE OPTIMIZATION OF DETERMINISTIC WAVE SEQUENCES

Proceedings of the ASME 29 28th International Conference on Ocean, Offshore and Arctic Engineering OMAE29 May 31 - June, 29, Honolulu, Hawaii, USA Proceedings of the ASME 28th International Conference

### Velocity Based Stability Margins for Fast Bipedal Walking

Velocity Based Stability Margins for Fast Bipedal Walking Jerry E. Pratt 1 and Russ Tedrake 2 1 Florida Institute for Human and Machine Cognition jpratt@ihmc.us 2 Massachusettes Institute of Technology

### DEVIL PHYSICS THE BADDEST CLASS ON CAMPUS AP PHYSICS

DEVIL PHYSICS THE BADDEST CLASS ON CAMPUS AP PHYSICS LSN 11-7: WAVE MOTION LSN 11-8: TYPES OF WAVES; LONGITUDINAL AND TRANSVERSE LSN 11-9: ENERGY TRANSPORTED BY WAVES Physics of Waves Questions From Reading

### An Evolved Neural Controller for Bipedal Walking with Dynamic Balance

An Evolved Neural Controller for Bipedal Walking with Dynamic Balance Michael E. Palmer 1859 Laboratories, Inc. 922 Matadero Ave. Palo Alto, CA 94306 +1-415-867-3653 mep@1859labs.com Daniel B. Miller Singular

### l l k gnd Force Control for Spring-Mass Walking and Running leg gnd Devin Koepl, Kevin Kemper and Jonathan Hurst

Force Control for SpringMass Walking and Running Devin Koepl, Kevin Kemper and Jonathan Hurst Abstract We demonstrate in simulation that active force control applied to a passive springmass model for walking

### Development of Biomimicry Wind Louver Surface Design

International Proceedings of Chemical, Biological and Environmental Engineering, V0l. 93 (2016) DOI: 10.7763/IPCBEE. 2016. V93. 6 Development of Biomimicry Wind Louver Surface Design Jaepil Choi 1, Donghwa

### System Operating Limit Definition and Exceedance Clarification

System Operating Limit Definition and Exceedance Clarification The NERC-defined term System Operating Limit (SOL) is used extensively in the NERC Reliability Standards; however, there is much confusion

### DEVELOPMENT OF cm-scale WALL CLIMBING HEXAPOD ROBOT WITH CLAWS

DEVELOPMENT OF cm-scale WALL CLIMBING HEXAPOD ROBOT WITH CLAWS Mayo Funatsu, Yushi Kawasaki, Soichiro Kawasaki, Koki Kikuchi, Department of Advanced Robotics, Chiba Institute of Technology Chiba, Japan

### Embodiment of Legged Robots Emerged in Evolutionary Design: Pseudo Passive Dynamic Walkers

17 Embodiment of Legged Robots Emerged in Evolutionary Design: Pseudo Passive Dynamic Walkers Kojiro Matsushita and Hiroshi Yokoi Department of Precision Engineering, University of Tokyo Japan Open Access

### Conceptual Design of an Energy Efficient Transfemoral Prosthesis

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Conceptual Design of an Energy Efficient Transfemoral Prosthesis R. Unal, R. Carloni, E.E.G.

### Keywords Crab-like robot, central pattern generator, Hopf oscillator, self-adaptive control, complex terrains

Research Article Central pattern generator and feedforward neural network-based selfadaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms International Journal

### Chapter 14. Vibrations and Waves

Chapter 14 Vibrations and Waves Chapter 14 Vibrations and Waves In this chapter you will: Examine vibrational motion and learn how it relates to waves. Determine how waves transfer energy. Describe wave

### by Michael Young Human Performance Consulting

by Michael Young Human Performance Consulting The high performance division of USATF commissioned research to determine what variables were most critical to success in the shot put The objective of the

### PHY 221: Wavefunction, Wave Superposition, Standing Waves on a String

PHY 221: Wavefunction, Wave Superposition, Standing Waves on a String Objective Write a mathematical function to describe the wave. Describe a transverse wave and a longitudinal wave. Describe frequency,

### World Academy of Science, Engineering and Technology International Journal of Mechanical and Mechatronics Engineering Vol:6, No:1, 2012

Perfect Plastic Deformation of a Circular Thin Bronze Plate due to the Growth and Collapse of a Vapour Bubble M.T. Shervani-Tabar, M. Rezaee and E. Madadi Kandjani Abstract Dynamics of a vapour bubble

### Unsteady Wave-Driven Circulation Cells Relevant to Rip Currents and Coastal Engineering

Unsteady Wave-Driven Circulation Cells Relevant to Rip Currents and Coastal Engineering Andrew Kennedy Dept of Civil and Coastal Engineering 365 Weil Hall University of Florida Gainesville, FL 32611 phone:

### Control Strategies for operation of pitch regulated turbines above cut-out wind speeds

Control Strategies for operation of pitch regulated turbines above cut-out wind speeds Helen Markou 1 Denmark and Torben J. Larsen, Risø-DTU, P.O.box 49, DK-4000 Roskilde, Abstract The importance of continuing

### Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor

J Intell Robot Syst (27) 48:457 484 DOI 1.17/s1846-6-917-8 Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor Jung-Yup Kim & Ill-Woo Park & Jun-Ho Oh Received: 31 July 26 /

### INSTRUMENT INSTRUMENTAL ERROR (of full scale) INSTRUMENTAL RESOLUTION. Tutorial simulation. Tutorial simulation

Lab 1 Standing Waves on a String Learning Goals: To distinguish between traveling and standing waves To recognize how the wavelength of a standing wave is measured To recognize the necessary conditions

### Citation for published version (APA): Canudas Romo, V. (2003). Decomposition Methods in Demography Groningen: s.n.

University of Groningen Decomposition Methods in Demography Canudas Romo, Vladimir IMPORTANT NOTE: You are advised to consult the publisher's version (publisher's PDF) if you wish to cite from it. Please

### INCLINOMETER DEVICE FOR SHIP STABILITY EVALUATION

Proceedings of COBEM 2009 Copyright 2009 by ABCM 20th International Congress of Mechanical Engineering November 15-20, 2009, Gramado, RS, Brazil INCLINOMETER DEVICE FOR SHIP STABILITY EVALUATION Helena

### Available online at ScienceDirect. Procedia Engineering 112 (2015 ) 40 45

Available online at www.sciencedirect.com ScienceDirect Procedia Engineering ( ) 7th Asia-Pacific Congress on Sports Technology, APCST 3-Dimensional joint torque calculation of compression sportswear using

### Determination of the Design Load for Structural Safety Assessment against Gas Explosion in Offshore Topside

Determination of the Design Load for Structural Safety Assessment against Gas Explosion in Offshore Topside Migyeong Kim a, Gyusung Kim a, *, Jongjin Jung a and Wooseung Sim a a Advanced Technology Institute,

### IMO REVISION OF THE INTACT STABILITY CODE. Proposal of methodology of direct assessment for stability under dead ship condition. Submitted by Japan

INTERNATIONAL MARITIME ORGANIZATION E IMO SUB-COMMITTEE ON STABILITY AND LOAD LINES AND ON FISHING VESSELS SAFETY 49th session Agenda item 5 SLF 49/5/5 19 May 2006 Original: ENGLISH REVISION OF THE INTACT

### Virtual Model Control: An Intuitive Approach for Bipedal Locomotion

Jerry Pratt Chee-Meng Chew Ann Torres Peter Dilworth Gill Pratt Leg Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 2139, USA http://www.ai.mit.edu/projects/leglab/ Virtual Model

### Dynamic Lateral Stability for an Energy Efficient Gait

Dynamic Lateral Stability for an Energy Efficient Gait Zhenglong Sun a Nico Roos a a Department of Knowledge Engineering, Maastricht University P.O. Box 616, 6200 MD Maastricht, The Netherlands Abstract

### The Effect of Von Karman Vortex Street on Building Ventilation

The Effect of Von Karman Vortex Street on Building Ventilation P.Praveen Kumar Abstract This paper deals with the utilisation of the von Karman vortex street principle to maximise air flow into buildings.

### Static Extended Trailing Edge for Lift Enhancement: Experimental and Computational Studies

Static Extended Trailing Edge for Lift Enhancement: Experimental and Computational Studies T. Liu, J. Montefort, W. Liou Western Michigan University Kalamazoo, MI 49008 and Q. Shams NASA Langley Research

### Current issues regarding induced acceleration analysis of walking using the integration method to decompose the GRF

Current issues regarding induced acceleration analysis of walking using the integration method to decompose the GRF George Chen May 17, 2002 Stanford Neuromuscular Biomechanics Lab Group Muscle contribution

### IMAGE-BASED STUDY OF BREAKING AND BROKEN WAVE CHARACTERISTICS IN FRONT OF THE SEAWALL

IMAGE-BASED STUDY OF BREAKING AND BROKEN WAVE CHARACTERISTICS IN FRONT OF THE SEAWALL Weijie Liu 1 and Yoshimitsu Tajima 1 This study aims to study the breaking and broken wave characteristics in front

### Introduction with New Methods for Train Operation Control in Strong Winds at East Japan Railway Company

1 1 2 3 4 5 6 7 8 9 1 11 12 13 14 15 16 17 18 19 2 21 22 23 24 25 26 27 28 29 3 31 Introduction with New Methods for Train Operation Control in Strong Winds at East Japan Railway Company 31 July 214 7,428

### BIOMECHANICAL MOVEMENT

SECTION PART 5 5 CHAPTER 12 13 CHAPTER 12: Biomechanical movement Practice questions - text book pages 169-172 1) For which of the following is the athlete s centre of mass most likely to lie outside of

### 2 FUSION FITTINGS FOR USE WITH POLYETHYLENE PRESSURE PIPES DESIGN FOR DYNAMIC STRESSES

Industry Guidelines Part 2 FUSION FITTINGS FOR USE WITH POLYETHYLENE PRESSURE PIPES DESIGN FOR DYNAMIC STRESSES ISSUE 5.1 Ref: POP10B 15 MAR 2010 Disclaimer In formulating this guideline PIPA has relied

### Creation of a Fallback Catch Method. Megan Berry Mechanical Engineering Senior MAE 490 (4 credits)

Creation of a Fallback Catch Method Megan Berry Mechanical Engineering Senior MAE 490 (4 credits) Abstract In order that the Cornell Ranger remains autonomous during long distance record attempts and avoids

### THE EFFECT OF COUPLED HEAVE/HEAVE VELOCITY OR SWAY/SWAY VELOCITY INITIAL CONDITIONS ON CAPSIZE MODELING

8 th International Conference on 521 THE EFFECT OF COUPLED HEAVE/HEAVE VELOCITY OR SWAY/SWAY VELOCITY INITIAL CONDITIONS ON CAPSIZE MODELING Leigh S. McCue and Armin W. Troesch Department of Naval Architecture

### Using Gait Change for Terrain Sensing by Robots

2013 International Conference on Computer and Robot Vision Using Gait Change for Terrain Sensing by Robots Sandeep Manjanna and Gregory Dudek Centre for Intelligent Machines McGill University Montreal,

### Coaching the Triple Jump Boo Schexnayder

I. Understanding the Event A. The Run and Its Purpose B. Hip Undulation and the Phases C. Making the Connection II. III. IV. The Approach Run A. Phases B. Technical Features 1. Posture 2. Progressive Body

### AN31E Application Note

Balancing Theory Aim of balancing How an unbalance evolves An unbalance exists when the principle mass axis of a rotating body, the so-called axis of inertia, does not coincide with the rotational axis.

### Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus

Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus Konstantinos Karakasiliotis*, Kristiaan D Août, Peter Aerts and Auke Jan Ijspeert, Member, IEEE Abstract Morphology is an

### Transactions on the Built Environment vol 7, 1994 WIT Press, ISSN

Service dependability of Italian high speed railway system: modeling and preliminary evaluations R. Calabria, L. Delia Ragione, G. Pulcini & M. Rap one Istituto Motori CNR, Via Marconi 8, 80125 Napoli,

### OPTIMIZATION OF SINGLE STAGE AXIAL FLOW COMPRESSOR FOR DIFFERENT ROTATIONAL SPEED USING CFD

http:// OPTIMIZATION OF SINGLE STAGE AXIAL FLOW COMPRESSOR FOR DIFFERENT ROTATIONAL SPEED USING CFD Anand Kumar S malipatil 1, Anantharaja M.H 2 1,2 Department of Thermal Power Engineering, VTU-RO Gulbarga,

### Application of Bayesian Networks to Shopping Assistance

Application of Bayesian Networks to Shopping Assistance Yang Xiang, Chenwen Ye, and Deborah Ann Stacey University of Guelph, CANADA Abstract. We develop an on-line shopping assistant that can help a e-shopper

### Servo-Assisted Lower-Body Exoskeleton With a True Running Gait

Servo-Assisted Lower-Body Exoskeleton With a True Running Gait John Dick and Bruce Crapuchettes Applied Motion, Inc. 935 N. Indian Hill Blvd. Claremont, CA 91711 jdick@springwalker.com DARPA Workshop on

### Gait-Based Compliant Control for Snake Robots

2 IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany, May 6-, 2 Gait-Based Compliant Control for Snake Robots David Rollinson and Howie Choset Abstract We present a method