FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W101994097> ?p ?o ?g. }

• W101994097 abstract "ABSTRACT The motive behind building humanoids is to design a robot that can duplicate the complexities of human motion, decision making, be able to help people and even accomplish tasks that cannot be carried out by humans. Building humanoids has always attracted scientists throughout the world but although the aim is seemingly simple, the task is never easy. In this series of articles, we are going to present the concept of a humanoid robot, named Cerberus, that walks like a biped and then switches its mode to a quadruped walker/crawler. In Part I, desirable system criteria, design alternatives, final design selection and kinematics of the robot are presented along with the humanoid robot’s simulations. Keywords Humanoid Robot, Cerberus Robot, Biped, Quadruped. 1. INTRODUCTION The motive behind building humanoids is simply to design a robot that can duplicate the complexities of human motion and genuinely help people. Although the motive is this simple, the task is never easy. For example it took Honda’s ASIMO more than 18 years of persistent study, research, and trial and error before Honda engineers achieved their dream of creating an advanced humanoid robot [1]. Walking process can be branched into two main groups as static and dynamic walking. Static walking in bipedal humanoids involves the complete shifting of the COG of the body over to the base foot area when the other is lifted to move forward. Such robots are designed and controlled from a kinematic standpoint (trajectory, or displacement-controlled), and as a consequence, they have relatively large feet and walk at a slow speed. A static-walking biped, such as the Honda P3 Humanoid, “does not move quite like people do and is energetically inefficient… it moves with a nonpendular appearance and uses about 2 kW during walking (Honda 2000), more than 20 times the muscle work rate of a walking human of the same size” [1]. Dynamic stability is needed to walk quickly and over varied terrains. The center of gravity lies outside the supporting leg base area during walking; the robot tumbles forward to its next step in dynamic equilibrium. Passive-dynamic walking can be a third group added to different type of walking process. Un-powered toy soldier or penguins were constructed as early as a century ago that would walk down a gentle incline without any motor control. Through the careful selection of the lengths and masses of their arms and legs, these toys maintain their balance while consuming very little energy (from gravity) when walking. Such models walk in a rigid manner, but their constructions are simple. Using this as the starting point, more DOF’s can be added, these being powered and controlled, a more fluid walking motion can be achieved. The aim for this study is toward the simple design that can do more functions. For this reason we selected a static walker with the capability of changing its mode from a biped to quadruped walker. The following section gives a brief history of the humanoid studies up to now. In the next section, various conceptual designs are introduced. Lastly, the final design concept selection procedure, detailed explanation of the final design and the preliminary gait definitions are presented." @default.
• W101994097 created "2016-06-24" @default.
• W101994097 creator A5034421701 @default.
• W101994097 creator A5038389747 @default.
• W101994097 creator A5054776362 @default.
• W101994097 creator A5057118215 @default.
• W101994097 creator A5058435310 @default.
• W101994097 date "2005-01-01" @default.
• W101994097 modified "2023-09-26" @default.
• W101994097 title "Cerberus the Humanoid Robot: Part I - Design" @default.
• W101994097 cites W2107063340 @default.
• W101994097 cites W2166162370 @default.
• W101994097 hasPublicationYear "2005" @default.
• W101994097 type Work @default.
• W101994097 sameAs 101994097 @default.
• W101994097 citedByCount "1" @default.
• W101994097 countsByYear W1019940972012 @default.
• W101994097 crossrefType "journal-article" @default.
• W101994097 hasAuthorship W101994097A5034421701 @default.
• W101994097 hasAuthorship W101994097A5038389747 @default.
• W101994097 hasAuthorship W101994097A5054776362 @default.
• W101994097 hasAuthorship W101994097A5057118215 @default.
• W101994097 hasAuthorship W101994097A5058435310 @default.
• W101994097 hasConcept C107457646 @default.
• W101994097 hasConcept C111919701 @default.
• W101994097 hasConcept C121332964 @default.
• W101994097 hasConcept C127413603 @default.
• W101994097 hasConcept C1276947 @default.
• W101994097 hasConcept C13662910 @default.
• W101994097 hasConcept C154945302 @default.
• W101994097 hasConcept C201995342 @default.
• W101994097 hasConcept C2780451532 @default.
• W101994097 hasConcept C39920418 @default.
• W101994097 hasConcept C41008148 @default.
• W101994097 hasConcept C44154836 @default.
• W101994097 hasConcept C60692881 @default.
• W101994097 hasConcept C74650414 @default.
• W101994097 hasConcept C90509273 @default.
• W101994097 hasConcept C98045186 @default.
• W101994097 hasConceptScore W101994097C107457646 @default.
• W101994097 hasConceptScore W101994097C111919701 @default.
• W101994097 hasConceptScore W101994097C121332964 @default.
• W101994097 hasConceptScore W101994097C127413603 @default.
• W101994097 hasConceptScore W101994097C1276947 @default.
• W101994097 hasConceptScore W101994097C13662910 @default.
• W101994097 hasConceptScore W101994097C154945302 @default.
• W101994097 hasConceptScore W101994097C201995342 @default.
• W101994097 hasConceptScore W101994097C2780451532 @default.
• W101994097 hasConceptScore W101994097C39920418 @default.
• W101994097 hasConceptScore W101994097C41008148 @default.
• W101994097 hasConceptScore W101994097C44154836 @default.
• W101994097 hasConceptScore W101994097C60692881 @default.
• W101994097 hasConceptScore W101994097C74650414 @default.
• W101994097 hasConceptScore W101994097C90509273 @default.
• W101994097 hasConceptScore W101994097C98045186 @default.
• W101994097 hasLocation W1019940971 @default.
• W101994097 hasOpenAccess W101994097 @default.
• W101994097 hasPrimaryLocation W1019940971 @default.
• W101994097 hasRelatedWork W1480242420 @default.
• W101994097 hasRelatedWork W1551214267 @default.
• W101994097 hasRelatedWork W1555148953 @default.
• W101994097 hasRelatedWork W1578497324 @default.
• W101994097 hasRelatedWork W16887635 @default.
• W101994097 hasRelatedWork W1776568846 @default.
• W101994097 hasRelatedWork W2048596651 @default.
• W101994097 hasRelatedWork W2052535657 @default.
• W101994097 hasRelatedWork W2098018461 @default.
• W101994097 hasRelatedWork W2106127067 @default.
• W101994097 hasRelatedWork W2116626416 @default.
• W101994097 hasRelatedWork W2186447622 @default.
• W101994097 hasRelatedWork W2557800268 @default.
• W101994097 hasRelatedWork W2730539781 @default.
• W101994097 hasRelatedWork W2944911738 @default.
• W101994097 hasRelatedWork W2969698525 @default.
• W101994097 hasRelatedWork W3089552519 @default.
• W101994097 hasRelatedWork W362359864 @default.
• W101994097 hasRelatedWork W2130705212 @default.
• W101994097 hasRelatedWork W2739617504 @default.
• W101994097 isParatext "false" @default.
• W101994097 isRetracted "false" @default.
• W101994097 magId "101994097" @default.
• W101994097 workType "article" @default.