Leg

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A leg is a weight bearing and locomotive structure, usually having a columnar shape. During locomotion, legs function as "extensible struts" - the combination of movements at all joints can be modeled as a single, linear element capable of changing length and rotating about an omnidirectional "hip" joint. (Wikipedia.org)






Conferences related to Leg

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2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA)

Industrial Informatics, Computational Intelligence, Control and Systems, Cyber-physicalSystems, Energy and Environment, Mechatronics, Power Electronics, Signal and InformationProcessing, Network and Communication Technologies


2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)

The goal of the 14th ASME/IEEE MESA2018 is to bring together experts from the fields of mechatronic and embedded systems, disseminate the recent advances in the area, discuss future research directions, and exchange application experience. The main achievement of MESA2018 is to bring out and highlight the latest research results and developments in the IoT (Internet of Things) era in the field of mechatronics and embedded systems.


2018 15th International Workshop on Advanced Motion Control (AMC)

1. Advanced Motion Control2. Haptics, Robotics and Human-Machine Systems3. Micro/Nano Motion Control Systems4. Intelligent Motion Control Systems5. Nonlinear, Adaptive and Robust Control Systems6. Motion Systems for Robot Intelligence and Humanoid Robotics7. CPG based Feedback Control, Morphological Control8. Actuators and Sensors in Motion System9. Motion Control of Aerial/Ground/Underwater Robots10. Advanced Dynamics and Motion Control11. Motion Control for Assistive and Rehabilitative Robots and Systems12. Intelligent and Advanced Traffic Controls13. Computer Vision in Motion Control14. Network and Communication Technologies in Motion Control15. Motion Control of Soft Robots16. Automation Technologies in Primary Industries17. Other Topics and Applications Involving Motion Dynamics and Control


2018 16th International Conference on Megagauss Magnetic Field Generation and Related Topics (MEGAGAUSS)

The MG-XVI conference will take place between September 25-29, 2018 at the UTokyo Kashiwa Campus, near Tokyo, Japan. The MG XVI conference will serve as a platform for scientists to exchange information and ideas among the members of the international scientific community in the domain of generation and application of ultra-high magnetic fields, high-energy and high-current pulsed power physics and technology, magnetic-flux compression technologies for the production of multi-megagauss fields, high magnetic field applications in basic and applied research in solid-state physics, atomic physics and chemistry, high energy density physics and for other related and novel technical applications. The MG XVI conference encourages opportunities for a strong interaction and networking among experienced and young scientists, engineers, and students involved in this extremely interesting and unique research area.


2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)

The International Conference on System Theory, Control and Computing ICSTCC 2018 aims at bringing together under a unique forum, scientists from academia and industry to discuss the state of the art and the new trends in system theory, control and computer engineering, and to present recent research results and prospects for development in this rapidly evolving area.

  • 2017 21st International Conference on System Theory, Control and Computing (ICSTCC)

    The International Conference on System Theory, Control and Computing ICSTCC 2017 aims at bringing together under a unique forum, scientists from academia and industry to discuss the state of the art and the new trends in system theory, control and computer engineering, and to present recent research results and prospects for development in this rapidly evolving area.

  • 2016 20th International Conference on System Theory, Control and Computing (ICSTCC)

    The main goal of this conference is to provide a multidisciplinary forum between researchers from industry and academia to discuss state-of-the-art topics in system theory, control and computing, and to present recent research results and prospects for development in this evolving area. The outcome of ICSTCC 2016 can be a better understanding of some leading research areas, as already System Theory, Control and Computing have demonstrated.

  • 2015 19th International Conference on System Theory, Control and Computing (ICSTCC)

    International Conference on System Theory, Control and Computing - ICSTCC 2015 - aims at bringing together, under a unique forum, scientists from Academia and Industry to discuss the state of the art and the new trends in System Theory, Control and Computer Engineering, and at promoting professional interactions and fellowships. ICSTCC 2015 will feature several kinds of presentations including invited plenary papers, contributed papers and invited sessions. The outcome of ICSTCC 2015 will be a better understanding of some leading research areas for which System Theory, Control and Computing are representative.The conference has reached its sixth edition and it represents the result of a merger of three different scientific events previously hosted by “Dunarea de Jos” University of Galati, “Gheorghe Asachi” Technical University of Iasi and University of Craiova.

  • 2014 18th International Conference on System Theory, Control and Computing (ICSTCC)

    The International Conference on System Theory, Control and Computing ICSTCC 2014 aims at bringing together under a unique forum, scientists from academia and industry to discuss the state of the art and the new trends in system theory, control and computer engineering, and to present recent research results and prospects for development in this rapidly evolving area.

  • 2013 17th International Conference on System Theory, Control and Computing (ICSTCC)

    The main goal of this conference is to provide amultidisciplinary forum between researchers from industry and academia to discuss state-of-the-art topics in system theory, control and computing, and to present recent research results and prospects for development in this evolving area.

  • 2012 16th International Conference on System Theory, Control and Computing (ICSTCC)

    The ICSTCC 2012 aims at bringing together, under a unique forum, scientists from Academia and Industry to discuss the state of the art and the new trends in System Theory, Control and Computing.

  • 2011 15th International Conference on System Theory, Control and Computing (ICSTCC)

    The ICSTCC 2011 aims at bringing together, under a unique forum, scientists from Academia and Industry to discuss the state of the art and the new trends in System Theory, Control and Computer Engineering. It will feature several kinds of presentations including invited and contributed papers, special sessions and poster sessions.


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Periodicals related to Leg

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Applied Superconductivity, IEEE Transactions on

Contains articles on the applications and other relevant technology. Electronic applications include analog and digital circuits employing thin films and active devices such as Josephson junctions. Power applications include magnet design as well asmotors, generators, and power transmission


Automatic Control, IEEE Transactions on

The theory, design and application of Control Systems. It shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organizational and other entities and combinations thereof, which can be represented through a mathematical symbolism. The Field of Interest: shall ...


Biomedical Engineering, IEEE Transactions on

Broad coverage of concepts and methods of the physical and engineering sciences applied in biology and medicine, ranging from formalized mathematical theory through experimental science and technological development to practical clinical applications.


Computer-Aided Design of Integrated Circuits and Systems, IEEE Transactions on

Methods, algorithms, and human-machine interfaces for physical and logical design, including: planning, synthesis, partitioning, modeling, simulation, layout, verification, testing, and documentation of integrated-circuit and systems designs of all complexities. Practical applications of aids resulting in producible analog, digital, optical, or microwave integrated circuits are emphasized.


Control Systems Technology, IEEE Transactions on

Serves as a compendium for papers on the technological advances in control engineering and as an archival publication which will bridge the gap between theory and practice. Papers will highlight the latest knowledge, exploratory developments, and practical applications in all aspects of the technology needed to implement control systems from analysis and design through simulation and hardware.


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An energy consumption based control for humanoid walking

[{u'author_order': 1, u'affiliation': u'Dept. of Adaptive Machine Syst., Emergent Robotics Area, Osaka, Japan', u'full_name': u'F. Yamasaki'}, {u'author_order': 2, u'affiliation': u'Dept. of Adaptive Machine Syst., Emergent Robotics Area, Osaka, Japan', u'full_name': u'K. Hosoda'}, {u'author_order': 3, u'affiliation': u'Dept. of Adaptive Machine Syst., Emergent Robotics Area, Osaka, Japan', u'full_name': u'M. Asada'}] IEEE/RSJ International Conference on Intelligent Robots and Systems, None

This paper presents a framework of the energy consumption based control system for humanoid walking. Unlike the existing two approaches (One is based on precise control and powerful actuators (full control and wide applicability), and the other is passive dynamic walk (no control, therefore limited applicability)), the method aims at less energy consumption with more applicability. Knee stretching posture contributed ...


Distributed control architecture for "Multi-agent Transportation (MAT) system” with {3,6} configuration

[{u'author_order': 1, u'affiliation': u'College of Systems Engineering, Shibaura Institute of Technology, Saitama, Japan', u'full_name': u'Keizo Miyahara'}] Proceedings of SICE Annual Conference 2010, None

This paper describes a control architecture for a multiagent robotic system, named "Multi-Agent Transportation (MAT) system" that consists of a number of identical units with a particular configuration denoted as {3,6} by Schlafli symbol. Every unit employs distributed control, and is mechanically connected each other. A proposing example unit contains a Gough-Stewart Platform, a symmetrical type of parallel link manipulator, ...


Three-phase Static Inverter Using a Novel Precalculated Switching Method

[{u'author_order': 1, u'affiliation': u'University of Versailles Saint-Quentin-en-Yvelines (UVSQ), Versailles Laboratory of Systems Engineering (LISV), Mechatronic and Integrated Systems Research Group (MIS), 7, rue Jean Hoet, 78200 Mantes-La-Jolie, France. mansouri@lisv.uvsq.fr', u'full_name': u'O. Mansouri'}, {u'author_order': 2, u'affiliation': u'University of Versailles Saint-Quentin-en-Yvelines (UVSQ), Versailles Laboratory of Systems Engineering (LISV), Mechatronic and Integrated Systems Research Group (MIS), 7, rue Jean Hoet, 78200 Mantes-La-Jolie, France. mohannad.khair-allah@uvsq.fr', u'full_name': u'M. Khair Allah'}, {u'author_order': 3, u'affiliation': u'University of Versailles Saint-Quentin-en-Yvelines (UVSQ), Versailles Laboratory of Systems Engineering (LISV), Mechatronic and Integrated Systems Research Group (MIS), 7, rue Jean Hoet, 78200 Mantes-La-Jolie, France. meghrich@lisv.uvsq.fr', u'full_name': u'K. Meghriche'}, {u'author_order': 4, u'affiliation': u'University of Versailles Saint-Quentin-en-Yvelines (UVSQ), Versailles Laboratory of Systems Engineering (LISV), Mechatronic and Integrated Systems Research Group (MIS), 7, rue Jean Hoet, 78200 Mantes-La-Jolie, France. abderrezzak.cherifi@uvsq.fr', u'full_name': u'A. Cherifi'}] IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, None

This paper presents a novel approach to determine the switching angles of a precalculated PWM three-phase inverter, using the phase-to-phase voltage as a reference. The number of switching angles is determined so as to minimize the total harmonic distortion (THD) rate and the power switching losses. A microcontroller set up is used to validate the simulation results.


Design and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development

[{u'author_order': 1, u'affiliation': u'Kawada Ind. Inc., Tochigi, Japan', u'full_name': u'N. Kanehira'}, {u'author_order': 2, u'affiliation': u'Kawada Ind. Inc., Tochigi, Japan', u'full_name': u'T. U. Kawasaki'}, {u'author_order': 3, u'affiliation': u'Kawada Ind. Inc., Tochigi, Japan', u'full_name': u'S. Ohta'}, {u'author_order': 4, u'affiliation': u'Kawada Ind. Inc., Tochigi, Japan', u'full_name': u'T. Ismumi'}, {u'author_order': 5, u'affiliation': u'Kawada Ind. Inc., Tochigi, Japan', u'full_name': u'T. Kawada'}, {u'author_order': 6, u'affiliation': u'Kawada Ind. Inc., Tochigi, Japan', u'full_name': u'F. Kanehiro'}, {u'author_order': 7, u'full_name': u'S. Kajita'}, {u'author_order': 8, u'full_name': u'K. Kaneko'}] IEEE/RSJ International Conference on Intelligent Robots and Systems, None

This paper presents an advanced leg module developed for HRP-2, a new humanoid robotics platform, which has been developed in phase two of the Humanoid Robotics Project (HRP), a five year program sponsored by the Ministry of Economy, Trade and Industry of Japan (METI) from 1998FY to 2002FY. The biped locomotion ability of HRP-1, the humanoid robotics platform developed in ...


Effect of L-dopa and Subthalamic Nucleus stimulation on arm and leg swing during gait in Parkinson's Disease

[{u'author_order': 1, u'affiliation': u'Bioengineering Centre, Don Carlo Gnocchi Foundation Onlus IRCCS, Milan, Italy. tel: +39-02-40308305; fax: +39-02-4048919; e-mail: icarpinella@dongnocchi.it', u'full_name': u'I. Carpinella'}, {u'author_order': 2, u'affiliation': u'Institute of Human Physiology I, Faculty of Medicine, University of Milan, Milan, Italy.', u'full_name': u'P. Crenna'}, {u'author_order': 3, u'affiliation': u'Institute of Human Physiology I, Faculty of Medicine, University of Milan, Milan, Italy.', u'full_name': u'A. Marzegan'}, {u'author_order': 4, u'affiliation': u'Bioengineering Centre, Don Carlo Gnocchi Foundation Onlus IRCCS, Milan, Italy', u'full_name': u'M. Rabuffetti'}, {u'author_order': 5, u'affiliation': u"Dep. Of Neuroscience, University of Turin, Turin, Itlay; Dep. Of Neuroscience, Niguarda Ca' Granda Hospital, Milan, Italy.", u'full_name': u'M. Rizzone'}, {u'author_order': 6, u'affiliation': u'Dep. Of Neuroscience, University of Turin, Turin, Itlay.', u'full_name': u'L. Lopiano'}, {u'author_order': 7, u'affiliation': u'Member, IEEE, Bioengineering Centre, Don Carlo Gnocchi Foundation Onlus IRCCS, Milan, Italy', u'full_name': u'M. Ferrarin'}] 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, None

The effects of subthalamic nucleus (STN) stimulation and L-dopa administration on the arm and leg swing movements associated with overground walking were studied in a group of patients with idiopathic Parkinson's disease (PD). Ten patients undergoing deep brain stimulation and twenty controls were tested using 3D kinematic motion analysis. Parkinsonian patients under basal conditions walked more slowly and with reduced ...


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IEEE-USA E-Books

  • Impedance Source Multi-Leg Inverters

    Standalone distribution generation (DG) systems have recently received much attention for their advantages in supplying power to remote customers. To eliminate the drawbacks of the two-stage dc-dc converters and three-phase voltage source inverters (VSIs), this chapter examines the Z-source four-leg inverter, starting with an analysis of the unbalanced load, and the effects of an unbalanced load. Then, it introduces the different inverter topologies for mitigation of unbalanced conditions. The chapter presents impedance source multi-leg inverters, which consist of three-phase four-leg inverters and five- phase inverters. It investigates ZS/qZS three-phase four-leg inverters with a detailed mathematical model, switching schemes including SVPWM and carrier- based PWM. Then, to analyze buck and boost conversion modes of qZS four-leg inverter, experimental results were presented in different case studies. The chapter presents the qZS five-phase inverter with mathematical model and switching schemes including various SVPWM techniques.

  • State Estimation for Legged Robots: Consistent Fusion of Leg Kinematics and IMU

    This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment. This is achieved by means of an Observability Constrained Extended Kalman Filter that fuses kinematic encoder data with on-board IMU measurements. By including the absolute position of all footholds into the filter state, simple model equations can be formulated which accurately capture the uncertainties associated with the intermittent ground contacts. The resulting filter simultaneously estimates the position of all footholds and the pose of the main body. In the algorithmic formulation, special attention is paid to the consistency of the linearized filter: it maintains the same observability properties as the nonlinear system, which is a prerequisite for accurate state estimation. The presented approach is implemented in simulation and validated experimentally on an actual quadrupedal robot.

  • Topology of a Neutral Leg

  • Parallel PI Voltage- Current Control of a Neutral Leg

  • Classical Control of a Neutral Leg

  • Voltage-Current Control of a Neutral Leg

  • Adaptive leg placement strategies in the fruit fly set an example for six-legged walking systems

    Poster. Leg placement of the fruit fly Drosophila melanogaster was studied under various visual conditions while walking on a square-wave like linear array of narrow "stepping stones". Three-dimensional high speed video analysis revealed elaborate and error tolerant trajectories of the different legs which depend only to a minor extent on visual influences. Flies do not endeavor to place their legs always on the top surfaces of the treads but equally often cling to the edges or to the side surfaces of the stepping stones. A successful fly-like walking robot would rely on visual influences only for far-field orientation but would exploit a rich mechanosensation at its lower extremities and the ability to attach its legs to various surfaces. Technical solutions for these requirements are currently investigated using a single-leg test stand and a six-legged robot

  • Coordination of Leg Movement in Walking Animals

    When a robot has to move in a locally uncertain environment, propulsion by means of walking legs is advantageous compared to a wheel driven system. However, the control of walking legs is more complicated. The question of how the movement of the different legs is coordinated will be investigated here. Three different solutions which have been developed during natural evolution will be compared. These are the walking systems of an insect, of a crustacea, and of a mammal. The results show that coordinating mechanisms differ considerably in these animals.

  • Modulation of One Inverter Phase Leg

  • Appendix 4: Overmodulation of a SinglePhase Leg



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