scholarly journals Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies

2016 ◽  
Author(s):  
Ye Zhao ◽  
Benito Fernandez ◽  
Luis Sentis
Keyword(s):  
Phase Space ◽  
Legged Locomotion ◽  
Space Planning

Empirical Modifications to a Phase Space Planner Which Compensates for Low Stiffness Actuation in a Planar, Point-Foot, Biped Robot

2014 ◽  
Author(s):  
Donghyun Kim ◽  
Ye Zhao ◽  
Gray Thomas ◽  
Luis Sentis
Keyword(s):  
Phase Space ◽  
Ad Hoc ◽  
Biped Robot ◽  
Open Loop ◽  
Linkage Mechanism ◽  
Space Planning ◽  
Planar Point ◽  
Flat Surfaces ◽  
Low Stiffness ◽  
Leg Movements

This paper presents an extensive experimental study of the first steps of the Hume robot. Hume is an adult sized, 20 kg, series-elastic, point-foot biped robot capable of very fast leg movements. In this study, Hume is constrained to planar motion by a linkage mechanism. We present our application of phase space planning to one, two, and three step walking, the last one over an obstacle. In the implementation, we modified the original theory and added ad-hoc adjustments since the robot could not follow the original theory’s planned walking trajectories despite their theoretical stability. We present a good correlation between the phase space plans and our various experiments, and an analysis of the robot’s final behavior. Overall the planner and ad-hoc modifications allowed us to execute very smooth gaits even over non-flat surfaces but at the same time demonstrated the shortcomings of open loop techniques.

A one-dimensional self-gravitating stellar gas

1966 ◽  
Vol 25 ◽  
pp. 46-48 ◽  
Author(s):  
M. Lecar
Keyword(s):  
Gravitational Field ◽  
Phase Space ◽  
Motion Picture ◽  
Space Distribution ◽  
Two Dimensional ◽  
One Dimensional ◽  
Phase Space Distribution ◽  
Dimensional Phase Space ◽  
The Mean

“Dynamical mixing”, i.e. relaxation of a stellar phase space distribution through interaction with the mean gravitational field, is numerically investigated for a one-dimensional self-gravitating stellar gas. Qualitative results are presented in the form of a motion picture of the flow of phase points (representing homogeneous slabs of stars) in two-dimensional phase space.

Evaluation Of The Functional Of Space-Planning Arrangement Of A Building

2019 ◽  
pp. 4-9
Keyword(s):  
Numerical Simulation ◽  
Life Cycle ◽  
Initial Data ◽  
Objective Assessment ◽  
Objective Evaluation ◽  
Point Of View ◽  
Shopping Centers ◽  
Space Planning ◽  
Planning Decisions ◽  
The Cost

The article focuses on the problem of the lack of objective evaluation of space-planning arrangement of buildings as a creative approach of the architect to the performing of functional tasks by the object. It is proposed to create a methodology for assessing the functional of space-planning solutions of buildings on the basis of numerical simulation of functional processes using the theory of human flows. There is a description of the prospects of using this method, which makes it possible to increase the coefficient of compactness, materials and works saving, more efficient use of space, reduce the cost of the life cycle of the building, save human forces and time to implement the functional of the building. The necessary initial data for modeling on the example of shopping and shopping-entertainment centers are considered. There are three main tasks for algorithmization of the functional of shopping centers. The conclusion is made about necessity of development of a method for objective assessment of buildings from the point of view of ergonomics of space-planning decisions based on the study of human behavior in buildings of different purposes.

Phase space of mechanical systems with a gauge group

1991 ◽  
Vol 161 (2) ◽  
pp. 13-75 ◽  
Author(s):  
Lev V. Prokhorov ◽  
Sergei V. Shabanov
Keyword(s):  
Phase Space ◽  
Gauge Group ◽  
Mechanical Systems
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