This thesis presents a hierarchical control algorithm for quadrupedal locomotion. We address three challenges in developing a controller for high-speed running: locomotion stability, control of ground reaction force, and coordination of four limbs. To tackle these challenges, the proposed algorithm employs three strategies. Leg impedance control provides programmable virtual compliance of each ...

Parallel robots are closed-loop structures presenting very good potential in terms of accuracy, stiffness and ability to manipulate large loads. One of the main bodies of the mechanism is fixed and is called the base, while the other is regarded as movable and hence is called the moving platform of the manipulator. Generally, the number of actuators is typically equal to the number of degrees o...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

Experim ents were conduc ted with resp ect to two classifier system mechanisms: t he bid com pet it ion and th e use of classifier specificity in biddi ng a nd paymen ts. T he experimen ts employed a sim plified classifier system and so may not accurately reflect the behavior of t he standard system. Nevertheless, the resul ts indicated t hat , in general, (1) specificity should not be fac tore...

The dissemination of information has evolved from word-of-mouth through the printing press to the electronic communications systems of today. Although electronic media make available vast quantities of data, such systems lack the ability to present information in a personalized and useful way. Interactive computer environtments in conjunction with rich information resources are instrumental in ...