摘要:
The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.
摘要:
A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.
摘要:
A robot comprises: a plurality of limbs having joints; a driving section for driving said joints periodically; and a controller capable of performing operations of: deriving a center position of reaction forces received from ground contacting parts and a change in the center position; calculating a phase concerning periodic movement of own dynamical system elements on the basis of the center position and the change in the center position having been derived; calculating a phase of control system elements for controlling the periodic movement, on the basis of the calculated phase of the own dynamical system elements; calculating a desired value of an angle of the joints on the basis of the calculated phase of the control system elements; and outputting the calculated desired value of the angle as a desired control value to said driving section, wherein in accordance with the desired control value outputted from said controller, said driving section drives said joints periodically so that periodic movement is performed.
摘要:
The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.
摘要:
A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.
摘要:
A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.
摘要:
A skin rejuvenating supplement composition for treating age spots, darkening of the skin, dry skin, calcium amino acid deficiencies, osteoporosis and eye site deficiencies. The composition contains 100 to 1,500 mg of pearl powder, 0.6 to 50 μkg Vitamin D, 1.5 to 20.0 mg of astaxanthin and 20 to 750 mg of bilberry extract. The composition can be administered in a tablet, also containing glycerol in an amount of about 500 mg, once or two times per day.
摘要:
A method for manufacturing a langasite single crystal substrate comprises the steps of polishing at least one of the main surfaces of a raw material substrate; and wet-etching said polished main surface of the substrate with a solution including H3PO4, HNO3 and CH3COOH.
摘要翻译:一种用于制造朗氏单晶基板的方法包括以下步骤:抛光原料基板的至少一个主表面; 并用包含H 3 PO 4,HNO 3和CH 3 COOH的溶液湿蚀所述抛光的基底的主表面。
摘要:
A surface acoustic wave resonator includes a piezoelectric substrate made of a langasite single crystal and an interdigital transducer made of Al provided on the surface of the piezoelectric substrate. A Euler angle (&phgr;, &thgr;, &phgr;) of the piezoelectric substrate is approximately (0°, 140° to 150°, 24° ±1°), and the film thickness H of the interdigital transducer is within the range of about 0.005 to 0.15 with respect to the wavelength &lgr; of a surface acoustic wave generated on the piezoelectric substrate.
摘要:
A method and apparatus for permitting a user to perform operations between data of at least two tables. In the invention table icons each representing one of the at least two tables are displayed on a display and the user is permitted to move one of the table icons to a position on the display where the display of the one table icon overlaps the display of another of the at least two table icons and selects an operation to be executed between data of tables corresponding to the one and the other table icons. The operation selected by the user is automatically executed when the one table icon is moved to a position overlapping the other table icon. A new table including data resulting form the selected operation and a new table icon representing the new table is generated and the new table icon representing the new table is displayed.