Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

On plastic potentials for anisotropic metals and their derivation from the texture function

Summary Plastic yielding of anisotropic metals can be either described by a macroscopic constitutive relation or assessed by means of a model which correlates single and polycrystal behaviors. The mathematical identification of the plastic work rate derived from the two approaches, for all strain rate tensors, leads to a fit of the polycrystal yield surface by an analytical function. When a quadratic from is assumed, the macroscopic anisotropy parameters become explicit functions of the texture coefficients. This identification method is applied to calculate yield surfaces andR-values of rolled and annealed steel sheets: theR-values and in general the flow rule, are more significantly modified by the fitting than the yield surface. Thus, it is worth extending the method to more general constitutive relations which may be given by the form of their work function: alternative forms of the work function for plastic materials are explored, especially in the bearing of convexity and homogeneity where quadratic forms have a distinct advantage. Finally, it is shown that the identification of the work function allows to express the phenomenological coefficients as analytical functions of the texture parameters for many forms of the work function; in the other cases, these coefficients may be obtained by linear or non-linear regression.     

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Ohne Zusammenfassung     

An articulated geometry for skid tractor AGVs

An articulated geometry which overcomes the problem of loss of traction in differentially steered skid tractor automatic guided vehicles is described.