Using the GCIPM to generate a biped locomotion pattern to improve the stability of biped robot,being similar to the one generated by the IPM,accommodates the free leg dynamics based upon its predetermined trajectory.

Research on gravity compensation algorithm for tool-assembling with force control in remote welding

A gravity compensation algorithm is brought forward and its availability is also confirmed.

In this paper eye-in-hand visual has been considered,and the controller with uncertain gravity compensation has been proposed.

Concerning the problems existed in the compensation system of expressway requisition land,this paper points out lower compensation standard,unscientific compensation way and sever withholding compensation fund in management and granting at present.

The land monetization compensation way has become one of resettlement placement compensation ways which needs to explore positively.

The selection of compensation mode and the arc-suppression coil is the main problem in the operation of resonant grounded systems.

Besides, it studies the effect of neutral point arc extingushing coil s compensation mode of generator onto 3U 0 stator earthing protection and generator s insulation.

The article introduces the character of various compensation methods of directly buried heating net, points out how to solve compensation of thermal expansion of pipe in different condition, and discusses the compensation method for big diameter directly buried heating net with a sample project.

Combined with the related national policies,some suggestions to solve the problems were put forward: compensation standards should be same in the same reservoir,the determination of compensation standards should tend towards market,the management of compensation capital should be formal,and the compensation method should be a long-term one.

Although“Reality of laws”which was promulgated in 2007 had made the new stipulation, it had not improved about the compensation method for land expropriation and could not protect sufficiently the interests of the peasants, it need give to consummate.

Motion control of a two-wheel mobile inverted pendulum;

The application of hierarchical fuzzy control for two - wheel mobile inverted pendulum;

The purpose was to make the mobile inverted pendulum move at the reference translational speed and rotational speed in the two-dimensional plane while keeping its link balanced.