TY  - CHAP
A1  - Priede, Gareth
A1  - Ferrein, Alexander
T1  - Towards passive walking for the fully-actuated biped robot Nao
T2  - Emerging trends in computing, informatics, systems sciences, and engineering. (Lecture notes in electrical engineering : vol. 151)
N2  - Many biped robots deploy a form of gait that follows the zero moment point (ZMP) approach, that is, the robot is in a stable position at any point in time. This requires the robot to be fully actuated. While very stable, the draw-backs of this approach are a fairly slow gait and high energy consumption. An alternative approach is the so-called passive-dynamic walking, where the gait makes use of the inertia and dynamic stability of the robot. In this paper we describe our ongoing work of combining the principles of passive-dynamic walking on the fully-actuated biped robot Nao, which is also deployed for robotic soccer applications. We present a simple controller that allows the robot to stably rock sidewards, showing a closed limit-cycle. We discuss first results of superimposing a forward motion on the sidewards motion. Based on this we expect to endow the Nao with a fast, robust, and stable passive-dynamic walk on the fully-actuated Nao in the future.
Y1  - 2013
SN  - 978-1-4614-3557-0 ; 978-1-4614-3558-7
U6  - http://dx.doi.org/10.1007/978-1-4614-3558-7_18
SP  - 225
EP  - 236
PB  - Springer
CY  - New York, NY
ER  - 
TY  - JOUR
A1  - Digel, Ilya
A1  - Akimbekov, N.
A1  - Turalieva, M.
A1  - Mansurov, Z.
A1  - Temiz Artmann, Aysegül
A1  - Eshibaev, A.
A1  - Zhubanova, A.
T1  - Usage of Carbonized Plant Wastes for Purification of Aqueous Solutions
JF  - Journal of Industrial Technology and Engineering
Y1  - 2013
VL  - 2
IS  - 07
SP  - 47
EP  - 54
ER  - 
TY  - JOUR
A1  - Bohrn, Ulrich
A1  - Stütz, Evamaria
A1  - Fleischer, Maximilian
A1  - Schöning, Michael Josef
A1  - Wagner, Patrick
T1  - Using a cell-based gas biosensor for investigation of adverse effects of acetone vapors in vitro
JF  - Biosensors and Bioelectronics. 40 (2013), H. 1
Y1  - 2013
SN  - 0956-5663
SP  - 393
EP  - 400
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - CHAP
A1  - Altay, Okyay
A1  - Butenweg, Christoph
A1  - Klinkel, Sven
T1  - Vibration control of slender structures by semi-active tuned liquid column dampers
T2  - Conference of the ASCE Engineering Mechanics Institute , Evanston, IL , USA , EMI 2013 , 2013-08-04 - 2013-08-07
Y1  - 2013
N1  - http://www.emi2013.northwestern.edu/openconf/modules/request.php?module=oc_program&action=view.php&a=&id=213&type=1
Seite kann nicht gefunden werden.
ER  - 
TY  - JOUR
A1  - Miyamoto, Ko-ichiro
A1  - Hirayama, Yuji
A1  - Wagner, Torsten
A1  - Schöning, Michael Josef
A1  - Yoshinobu, Tatsuo
T1  - Visualization of enzymatic reaction in a microfluidic channel using chemical imaging sensor
JF  - Electrochimica acta
Y1  - 2013
SN  - 1873-3859 (E-Journal); 0013-4686 (Print)
SP  - Publ. online
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - JOUR
A1  - Laack, Walter van
T1  - Why natural constants are as they are
JF  - British journal of arts and social sciences
Y1  - 2013
SN  - 2046-9578 (E-Journal)
VL  - Vol. 15
IS  - Nr. 2
SP  - 198
EP  - 203
PB  - BritishJournal Publ. Inc
CY  - London
ER  - 
TY  - CHAP
A1  - Spohr, A.
A1  - Schirra, Julian
A1  - Hoefling, J.
A1  - Schedl, A.
T1  - Wing weight estimation methodology for highly non-planar lifting systems during conceptual design
T2  - Deutscher Luft- und Raumfahrtkongress 2013 : 10.9. - 12.9.2013, Stuttgart
Y1  - 2013
SP  - Publ. online
ER  - 
TY  - JOUR
A1  - Scheer, Nico
A1  - Wolf, C. Roland
T1  - Xenobiotic receptor humanized mice and their utility
JF  - Drug Metabolism Reviews
Y1  - 2013
U6  - http://dx.doi.org/10.3109/03602532.2012.738687
SN  - 1097-9883
IS  - 1
SP  - 110
EP  - 121
PB  - Taylor & Francis
CY  - London
ER  -