There are two main categories of force control schemes: hybrid position-force control and impedance control. However, the former does not take into account the dynamic interaction between the robot’s end effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion by creating a mathematical relationship between the interaction forces and the reference trajectories. It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force. A mass-spring-damper impedance filter is generally used for safe interaction purposes. Tuning the parameters of the impedance filter is important and, if an unsuitable strategy is used, this can lead to unstabl
... Show MoreResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped
Iresineherbstii (blood leaves) is a member of the Amaranthaceae family, native to tropical and subtropical areas. It is erect herbaceous, has red and white variety. Different phytochemical constituents were detected as alkaloids, flavonoids, anthocyanins, and others. This herb was used as a pH indicator, insecticide, and dye fabrics. Traditionally it was used for divination purposes and other purposes. Iresinin IV is the major colorant. Different studies were done to evaluate the CNS, immunomodulatory, antibacterial, antiviral, cytotoxic and other effects. Fresh leaves extract was hepatotoxic. This review aimed to demonstrate the morphological features of this herb and to show the clinical studies related to its traditional use.
... Show MoreAccording to different types of democracy Indexes, hybrid regimes or those in the gray zone, make up the majority of regime transformations in the third wave of democracy. However, after nearly three decades, conceptual confusion about hybrid regimes persists and grows, while obstructing the accumulation of knowledge about the nature of hybrid regimes. This leads to significant political repercussions for democratization. This Paper attempts to provide a clearer view of different and overlapping concepts and classifications in this complex field, and sustain development in literature on democratic transformation. To achieve this, we followed an approach based on the classification of concepts and terms in three distinct categories, b
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