Admittance controlIn this paper, we proposed a Human-in-the-loop (HITL) control based on the Euler angles solution of the robot end-effector. When humans are in the control loop, we can linearize the Euler angles such that they have direct relation with the joint angles and they are ...
为了解决人形机器人控制的复杂性,我们借鉴了最近在腿部机器人领域使用大规模强化学习进行仿真和sim-to-real transfer的成功经验 [ 41, 51],以训练用于全身控制的low-level策略%28To tackle the control complexity of humanoids, we follow the recent success in legged robotics using large-scale reinforcement learn...
This system is engineered to detect epileptic activity and respond in a closed-loop manner by delivering precise electrical stimulation, effectively mitigating the risk of seizures. Notably, the RNS System is implanted chronically, affording the ability to record iEEG activity while individuals move ...
The deep-sea human occupied vehicles (HOV) typically have the characteristics such as large dimensions, complex structures, and significant nonlinearities of their dynamic models, which makes it difficult for the operator to precisely control the vehicle
(Pre-Talk) 27:44 The question of q, a look at the interplay of number theory and ergodic theory i 57:37 The value distribution of the Hurwitz zeta function with an irrational shift 51:58 Theta-finite pro-Hermitian vector bundles from loop groups elements 51:02 Torsion points and ...
The current density distribution inside the human body. It can be clearly observed that the induced current density peaks occur at narrow cross-sections such as ankle and neck. The values of current densities induced in the ankle obtained using BEM are compared with the results obtained by FEM ...
The male testes (or testicles) as in " two together”, considering the slang uses in the Ancient Greek ‘παραστάται‘(i.e. parastátai, “colleagues’), are homologous to the female ovaries. There, the developed and mature structures and functions classic views are that the...
Transmission of the coronavirus disease 2019 is still ongoing despite mass vaccination, lockdowns, and other drastic measures to control the pandemic. This is due partly to our lack of understanding on the multiphase flow mechanics that control droplet transport and viral transmission dynamics. Various...
The ability to monitor subtle changes in vital and arterial signals using flexible devices attached to the human skin can be valuable for the detection of various health conditions such as cardiovascular disease. Conventional Si device technologies are b
In this method, bodies are first modeled in their local coordinates, then rotated using rotation matrices defined by Euler angles, and finally translated into their final posi- tions. The inverse dynamic analysis is then carried out by using the recursive Newton–Euler algorithm of [7] expressed...