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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.
Niemüller, Tim ; Ewert, Daniel ; Reuter, Sebastian ; Ferrein, Alexander ; Jeschke, Sabina ; Lakemeyer, Gerhard
In this paper, the multicarrier physical layers of WiMAX are evaluated in the context of airport data links. The orthogonal frequency-division multiplexing (OFDM) and orthogonal frequency-division multiple-access (OFDMA) cases are applied to the forward link (FL) and reverse link (RL), respectively. The performance of the so called parking and taxi scenarios is presented for airport communications in C-band. Numerical results show that the proposed scheme brings good performance for both the FL and the RL. For the OFDMA case a structure changing called double-tile is also proposed to improve the system performance.
Gligorevic, Snjezana ; Schneckenburger, N. ; Franzen, N. ; Schnell, Michael ; Müller, S. ; Günzel, H.
Rokitansky, Carl-Herbert ; Ehammer, Max ; Gräupl, Thomas ; Schnell, Michael ; Brandes, Sinja ; Gligorevic, Snjezana ; Rihacek, Christoph ; Sajatovic, Miodrag
Physical layer specification of the L-band Digital Aeronautical Communications System (L-DACS1)
(2009)
Brandes, Sinja ; Epple, U. ; Gligorevic, Snjezana ; Schnell, Michael ; Haindl, Bernhard ; Sajatovic, Miodrag
Schnell, Michael ; Brandes, Sinja ; Gligorevic, Snjezana ; Walter, M. ; Rihacek, Christoph ; Sajatovic, Miodrag ; Haindl, Bernhard
Rokitansky, Carl-Herbert ; Ehammer, Max ; Gräupl, Thomas ; Schnell, Michael ; Brandes, Sinja ; Gligorevic, Snjezana ; Rihacek, Christoph ; Sajatovic, Miodrag
Sajatovic, Miodrag ; Rihacek, Christoph ; Haindl, Bernhard ; Schnell, Michael ; Brandes, Sinja ; Gligorevic, Snjezana
Brandes, Sinja ; Gligorevic, Snjezana ; Schnell, Michael ; Rokitansky, Carl-Herbert ; Ehammer, Max ; Gräupl, Thomas ; Schlereth, Armin ; Rihacek, Christoph
Niemüller, Tim ; Lakemeyer, Gerhard ; Ferrein, Alexander ; Reuter, S. ; Ewert, D. ; Jeschke, S. ; Pensky, D. ; Karras, Ulrich
Architecture for platform- and hardware-independent mesh networks : how to unify the channels
(2013)
This paper will prove that mesh networks among different platforms and hardware channels can help to channel valuable information even if public telecommunication infrastructure is not available due to arbitrary reasons. Therefore, results of a simulation for mesh networks on mass events will be provided, followed by the developed architecture and an outlook on future research. The developed architecture is currently being implemented and field tested on mass events.