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Extra resources for Webuser Issue 268 UK Ed (June 16, 2011) issue 268
In double-support phase (DSP), hip trajectory is designed through 6th order polynomial. And ankle trajectory is planned base on position of the landing point on the ground and sine curve. 5. 1(a). 1(b), which the arms trajectories are not taken account of. The parameters of the model are listed in Table1. l3 l2 l4 l8l9 l1 l5 (a) SCUT-I robot l11 l6 l12 l7 l10 l13 (b) SCUT-I robot model Fig. 1. SCUT-I robot and model Table 1. 30kg Parameter l1 l2 l3 l4 l5 l6 l7 Value 60mm 0mm 0mm 135mm 135mm 0mm 12mm Parameter l8 l9 l10 l11 l12 l13 Value 0mm 0mm 135mm 135mm 0mm 12mm Gait Planning of Humanoid Robots Walking on Stairs 27 3 The Planning of Climbing Stairs Movement The stair-climbing gait can be considered as a sequence of steps.
Two simple encoder circuits with resolution of 12 pulses per revolution are also designed by using optosensors. The firmware can be downloaded to the flash memory of the microcontroller dsPIC33FMC804 through an in system programming (ISP) port. Students can collect the data stored in the microcontroller, or send commands to the firmware via an RS232 serial bus. When the robot is used as a micromouse, it controls 6 infrared light emitting diodes (LEDs) in 5 directions, and detects the intensity of the reflected light to determine the maze wall information and to correct the motion commands for two dc motors.
G. Khan et al. The paper is organised as follows. In the next section we introduce the interaction scenario. Afterwards, the robotic subsystems and their integration are outlined. The paper then concludes with the illustration of the results and a brief discussion. 2 Interaction Scenario For the experimental work presented here, we have designed a simpliﬁed humanrobot interaction scenario. Although this only demonstrates a small aspect of human-robot interaction that would be desirable in future care robots, it is representative for situations where a robot assists a physically less-able and possibly bedridden human.