By Ben Choi (Editor)

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Simulation Results In this section a computer based simulation for control of a joint in a humanoid robot is demonstrated. Figure 9 shows the state in which the robot asked to move his arm kindly. Three curves with different amplitude and phase shows the intensity of the kindness. Fig. 9. Joint position control in kindness state Another emotion that has been modeled in the simulation is angriness which is shown in figure10. In this figure the generated motions of an angry person is presented as sharp curves in control signal.

Many studies were conducted on legged robot in order to improve the efficiency and stability during walking. A pioneering contribution was done (Takanishi et al, 2004) at the laboratories of Waseda University (Tokyo). Several other modern robots are designed to walk and behave like humans (Hashimoto et al, 2002)( 3) but until now the efficiency of the human gait is still far from being reached. In this sense, the work of McGeer (McGeer, 1990) can be considered exemplar. His passive dynamic walker made a stable gait without close position control, considering the walking motion as a natural oscillation of a double pendulum; and this is actually how humans seem to walk (Gottlieb et al, 1996) (Kiriazov, 1991).

Here, only gravity is acting, but tests were made including variable external disturbances, which could mimic the inertia load of other moving links. With "static angle", we denote the position the joint would have if the link inertia was zero and the damper was not present. 1 rad only due to gravity. Looking at the motor position, we can notice that it is always opposite to the angle respect to the reference since the spring stiffness is chosen lower than the joint stiffness. In this way the motor has to rotate more, but the system is less sensitive to motor position error.

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Humanoid Robots by Ben Choi (Editor)
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