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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Xplore Articles related to Leg

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Design of a new tendon driven haptic interface with six degrees of freedom

[{u'author_order': 1, u'affiliation': u'PERCRO, Pisa, Italy', u'full_name': u'A. Frisoli'}, {u'author_order': 2, u'full_name': u'F. Salsedo'}, {u'author_order': 3, u'full_name': u'M. Bergamasco'}] Robot and Human Interaction, 1999. RO-MAN '99. 8th IEEE International Workshop on, None

A six degrees-of-freedom manipulator with force feedback capabilities has been designed for using as a haptic interface (HI) in virtual environments and teleoperators. The HI system is devised to address tasks performed by people with small tools, involving dextrous manipulation. The proposed manipulator new kinematics is fully parallel and actuator redundant. Actuator redundancy refers to the addition of more actuators ...


Reactive power demand of transformers with DC bias

[{u'author_order': 1, u'affiliation': u'Colorado Univ., Boulder, CO, USA', u'full_name': u'Y. You'}, {u'author_order': 2, u'affiliation': u'Colorado Univ., Boulder, CO, USA', u'full_name': u'E. F. Fuchs'}, {u'author_order': 3, u'full_name': u'P. R. Barnes'}] Proceedings of 1994 IEEE Industry Applications Society Annual Meeting, None

Transformers in power electronic circuits are inadvertently but frequently exposed to direct current (DC) bias due to circuit imperfections. Such undesirable bias currents occur, for example, in power system transformers near high voltage DC terminals or in the event of geomagnetically induced currents (GICs) or nuclear explosions. An experimental study of three-phase transformers with three legs explores the reactive power ...


Study of walking robot for 3 dimensional terrain

[{u'author_order': 1, u'affiliation': u'Dept. of Mechano-Aerospace Eng., Tokyo Inst. of Technol., Japan', u'full_name': u'K. Arikawa'}, {u'author_order': 2, u'affiliation': u'Dept. of Mechano-Aerospace Eng., Tokyo Inst. of Technol., Japan', u'full_name': u'S. Hirose'}] Proceedings of 1995 IEEE International Conference on Robotics and Automation, None

In developing legged robots the most important problems are the design of leg mechanism and the determination of how to drive it. We have already suggested the `gravitationally decoupled actuation (GDA)' and `coupled drive' for ground walking robot and wall climbing robot respectively. In this paper, we discuss about these problems for a legged robot in `3-dimensional terrain ', a ...


Realization of bounce gait in a quadruped robot with articular-joint-type legs

[{u'author_order': 1, u'affiliation': u'Univ. of Electro-Commun., Tokyo, Japan', u'full_name': u'J. Furusho'}, {u'author_order': 2, u'affiliation': u'Univ. of Electro-Commun., Tokyo, Japan', u'full_name': u'A. Sano'}, {u'author_order': 3, u'affiliation': u'Univ. of Electro-Commun., Tokyo, Japan', u'full_name': u'M. Sakaguchi'}, {u'author_order': 4, u'affiliation': u'Univ. of Electro-Commun., Tokyo, Japan', u'full_name': u'E. Koizumi'}] Proceedings of 1995 IEEE International Conference on Robotics and Automation, None

The purpose of this study is to realize the bounce gait in articular-joint- type quadruped robots. We first develop a new robot which can realize bounce. A simulator is then made for the purpose of analyzing dynamic walking and efficiently developing its control methods. We formulate the leg-support- exchange phenomenon using Lagrangian impulsive equation. The control method is discussed, and ...


Utilizing existing transmission structures to support antenna brackets for the communications industry

[{u'author_order': 1, u'affiliation': u'Baltimore Gas & Electr. Co., MD, USA', u'full_name': u'G. Niles'}, {u'author_order': 2, u'full_name': u'D. L. Tormollen'}] Proceedings of 1996 Transmission and Distribution Conference and Exposition, None

Baltimore Gas and Electric Company began leasing space on its transmission structures to wireless carriers in the spring of 1995 in order to generate new revenues and foster growth in the communications industry. Before allowing this nontraditional use of the utility's facilities, many issues needed to be addressed. This paper examines how BGE designed, installed, and tested a unique antenna ...


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eLearning

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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

    This chapter contains sections titled: * Introduction * Split DC Link * Conventional Neutral Leg * Independently-Controlled Neutral Leg * Summary

  • Parallel PI Voltage- Current Control of a Neutral Leg

    This chapter contains sections titled: * Description of the Neutral Leg * Design of an _H_ ?> Current Controller * Addition of a Voltage Control Loop * Experimental Results * Summary

  • Classical Control of a Neutral Leg

    This chapter contains sections titled: * Mathematical Modelling * Controller Design * Performance Evaluation * Selection of the Components * Simulation Results * Summary

  • Voltage-Current Control of a Neutral Leg

    This chapter contains sections titled: * Mathematical Modelling * Controller Design * Selection of Weighting Functions * Design Example * Simulation Results * Summary

  • 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.

  • Appendix 4: Overmodulation of a SinglePhase Leg

  • A Carefully Prepared Leg of a Dead Frog Twitches When Stimulated Electrically



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