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//-->.pos {position:absolute; z-index: 0; left: 0px; top: 0px;}Ronald C. ArkinThe MIT Press, Cambridge, USAPart 2Experimental design – comments [1]design of a behavior-based controller for a legged walking robotInitially the robot was provided with the ability tostand up and conduct a simple walk.This worked adequately for smooth terrain butposed problems as the robot attempted to walkover irregular surfaces.Behaviour-Based Robotics2Experimental design – comments [2]design of a behavior-based controller for a legged walking robotBased on the requirements of this extendedcapability, force balancing was added to modifythe leg controllers and help the robot maintain asteady posture.Whiskers were then added to provide morewarning to the control system to deal with largerobjects that the robot needed to climb over.Behaviour-Based Robotics3Experimental design – comments [3]design of a behavior-based controller for a legged walking robotA final problem was noted involving balance insituations where the robot was heavily tilted foreor aft (pitching).To compensate, an inclinometer coupled with newpitch stabilization code was added to provide evenbetter performance as the robot maneuvered overhighly irregular terrain.Behaviour-Based Robotics4Experimentaldesign – comments [4]design of a behavior-based controller for a legged walking robotIt was then decided to allow the robot to trackwarm objects such as people, so infrared sensorswere added, coupled with a new behaviour toprovide prowling.Each of these competencieswas added incrementally,based upon the results ofprevious experiments andthe goal of providing greaterutility for the robotic system.Behaviour-Based Robotics5
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