http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Takanishi, Yoichi,Shin, Gyo Jic,Jung, Jin Chul,Choi, Suk-Won,Ishikawa, Ken,Watanabe, Junji,Takezoe, Hideo,Toledano, Pierre Royal Society of Chemistry 2005 Journal of materials chemistry Vol.15 No.37
<P>Experimental observations on the B<SUB>4</SUB> phase of liquid crystal mixtures formed from bent-core (P-8-O-PIMB) and rod (5CB) achiral molecules reveal the stabilization of the B<SUB>4</SUB> phase with an unusually large size of chiral domains. The phenomenon is interpreted as an intrinsic property of the B<SUB>4</SUB> phase when arising below the isotropic liquid (Iso); actually direct transition between Iso and B<SUB>4</SUB> phases occurs except for only very limited regions of pure P-8-O-PIMB and 5CB molecules. The phase diagram of the mixture shows the existence of a new phase, closely related to the B<SUB>4</SUB> phase.</P> <P>Graphic Abstract</P><P>Experimental observations of liquid crystal mixtures formed from bent-core (P8-OPIMB) and rod (5CB) achiral molecules reveal the stabilization of the B<SUB>4</SUB> phase with an unusually large size of chiral domains. <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=b507875j'> </P>
Online Walking Pattern and Balance Motion for a Biped Humanoid Robot Having a Trunk
Hun-oK Lim,Yoshiharu Kaneshima,Atsuo Takanishi 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.1
This paper describes an online locomotion pattern generation for a biped humanoid robot having a three degrees of freedom trunk. This pattern generator uses visual and auditory sensors to detect a walking length and direction from human robot interaction. The motion pattern of the lower-limbs is generated in real time on the basis of walking commands. Depending on the contact information of the landing foot, ZMP is set arbitrarily in a support polygon. To maintain the balance of the whole robot body during walking, the motions of the trunk and the waist are generated by a compensatory motion control method based on the ZMP and the motion of the lower-limbs. To confirm the online locomotion, we have developed a human-like biped robot, WABIAN-RIV that consists of forty-three mechanical degrees of freedom. Versatile biped walking experiments have been conducted on a horizontal plane using visual and auditory information, and the validity of the online pattern generation and the compensatory motion control has been assured.
New Collision Force Suppression Mechanism and Base Control of Human-Friendly Robot
Naoto Tanaka,Takayuki Iwama,Shunsuke Kumagai,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper describes a human-friendly robot capable of securing human safety in human-robot collisions. The upper body of the robot has 11 DOFs, including 3 DOFs in the waist, 2 DOFs in each shoulder, 1 DOF in each elbow and 1 DOF in each hand. The upper body is mounted on the base with four omnidirectional wheels. A new light-weight collision force suppression mechanism that is able to operate with very little backlash was developed and was installed at the elbow of the human-friendly robot. The suppression mechanism consists a drum, a clutch gear, two release air bag, two stopper linings, and four compression springs. Also, a base control method to secure human safety is discussed. Through collision experiments, the effectiveness of the collision force suppression mechanism and control method is verified.
Mechanism of One-Legged Jumping Robot With Artificial Musculoskeletal System
Hideki Iijima,Keisuke Sayama,Hiroyuki Masuta,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper describes the mechanism and vertical jumping pattern of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. Its weight is 12.34 kg, and its height is 1010 mm. It has a total of 13 actuators: 10 mono-articular types and 3 bi-articular types. Two kinds of pneumatic artificial muscles such as mono-articular and bi-articular muscles are installed in the rear and the front of the thigh and shin to antagonize each other. For a vertical jump, a joint angle pattern is developed based on the linear and angular momentum. The effectiveness of the mechanism and the jumping pattern of the robot are verified through simulations and experiments.
Radial Basis Function Neural Network Based PID Control for Quad-rotor Flying Robot
Shoji Furukawa,Shunya Kondo,Atuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
It is difficult for flying robots with a conventional PID controller to fly stably with external disturbances such as wind. Thus, a flight control method that can change the control parameters of a conventional PID controller according to the external disturbances is described in this paper. The control parameters of the PID controller are automatically adjusted based on a radial basis function neural network (RBFNN). The experimental results show that the control method is capable of effectively dealing with external disturbances.
Mechanism and Jumping Pattern of One-Legged Jumping Robot with Pneumatic Actuators
Yuya Yamamoto,Haruyoshi Nishi,Yusuke Torii,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Two kinds of pneumatic artificial muscles, mono-articular and bi-articular muscles, were installed in the rear and in the front of the thigh and shin. A jumping pattern is also developed in consideration of the performance of the pneumatic actuators. Several jumping experiments were conducted, and the effectiveness of the mechanism and jumping pattern was verified.