In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and jumping. We show two main results: (1) The adaptive controller is able to track the resonant frequency of the robot which is a function of di...

Given a cyclic group G and a generator g, the Diie-Hellman function (DH) maps two group elements (g a ; g b) to g ab. For many groups G this function is assumed to be hard to compute. We generalize this function to the P-Diie-Hellman function (P-DH) that maps two group elements (g a ; g b) to g P (a;b) for a (non-linear) polynomial P in a and b. In this paper we show that computing DH is comput...

d Q-T interval have been reported Lancer 1998;352:162-3. 5 Waller PC, Coulson RA, Wood SM. Regulatory pharmacovigilance in the United Kingdom: current principles and practice. Pharnracoepidemwl Drug Safety 1996;5:363-75. 6 Li Wan Po A, Zhang WY. What lessons can be rk reiterates our learnt from withdrawal of mibefradil from the market? Lancer 1998;351:1829-30. with 7 Lawson DH. Pharmacovigilanc...

We analyze the properties of probabilistic reversible decide-and-halt automata (DHPRA) and show that there is a strong relationship between DH-PRA and 1-way quantum automata. We show that a general class of regular languages is not recognizable by DHPRA by proving that two ‘‘forbidden’’ constructions in minimal deterministic automata correspond to languages not recognizable by DH-PRA. The shown...

Denavit Hartenberg (D-H) Kinematic structure representation of robot having revolute joint normally have fix arm length a, offset distance d, twist angle α and only varied joint angle θ. This paper introduce two (2) inputs variable of twist angle α and joint variable θ besides fix value of arm length a and offset distance d. Variable value of α and θ are dependent on polar electromagnetic actua...

In the literature we find a variety of mathematical approaches for solving problems in robotics which we will review now briefly. Denavit and Hartenberg [60] introduced the mostly used kinematic notation for lower pair mechanisms based on matrix algebra, Walker [243] used the epsilon algebra for the treatment of the manipulator kinematics, Gu and Luh [99] utilized dual– matrices for computing t...

This paper describes a procedure that automatically generates parameters for the geometric modeling of kinematic chains. The convention of modeling used is the Denavit Hartenberg convention modified by Khalil Kleinfinger, noted DHKK. The procedure proposed here has two advantages. First the user does not need to calculate the geometric parameters by himself. He simply has to give the directions...

An analytical method is presented to obtain all surfaces enveloping the workspace of a general n degree-of-freedom mechanism with non-unilateral constraints. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation method for serial kinematic chains or its modification for closed-loop kinematic chains. The method developed is based upon analyt...

1.1 Overview of the problem Improvement of the accuracy and performance of robot systems implies both external sensors and intelligence in the robot controller. Sensors enable a robot to observe its environment and, using its intelligence, a robot can process the observed data and make decisions and changes to control its movements and other operations. The term intelligent robotics, or sensor-...

The increasing use of robot simulation systems has raised the need for a full kinematic treatment for a large number of diierent types of robots. Usually this is done either by supplying a general iterative inverse procedure , a time-consuming method not guaranteed to converge, or by carrying out a special analysis for each type. In this paper we present a software system whose input is an elem...