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Contribution to the Synthesis of Biped Gait - ScienceDirect

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Contribution to the synthesis of biped gait. | Symptoma®

There is also evidence that life itself can contribute to mass extinctions. When the eventually , organisms that could not survive or thrive around oxygen (called ) . When anoxic conditions appeared, particularly when existed, the anaerobes could abound once again, and when thrived, usually arising from ocean sediments, they . Since the ocean floor had already become anoxic, the seafloor was already a dead zone, so little harm was done there. The hydrogen sulfide became lethal when it rose in the and killed off surface life and then wafted into the air and near shore. But the greatest harm to life may have been inflicted when hydrogen sulfide eventually , which could have been the final blow to an already stressed ecosphere. That may seem a fanciful scenario, but there is evidence for it. There is fossil evidence of during the Permian extinction, as well as photosynthesizing anaerobic bacteria ( and ), which could have only thrived in sulfide-rich anoxic surface waters. Peter Ward made this key evidence for his , and he has implicated hydrogen sulfide events in most major mass extinctions. An important aspect of Ward’s Medea hypothesis work is that about 1,000 PPM of carbon dioxide in the atmosphere, which might be reached in this century if we keep burning fossil fuels, may artificially induce Canfield Oceans and result in . Those are not wild-eyed doomsday speculations, but logical outcomes of current trends and , proposed by leading scientists. Hundreds of already exist on Earth, which are primarily manmade. Even if those events are “only” 10% likely to happen in the next century, that we are flirting with them at all should make us shudder, for a few reasons, one of which is the awesome damage that it would inflict on the biosphere, including humanity, and another is that it is entirely preventable with the use of technologies .

The contribution of this paper is gait synthesis and is experimental ..

In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints.

Contribution to the synthesis of biped gait

"Gait Synthesis for the SD-2 Biped Robot to Climb Sloped Surface," IEEE Trans

J17. Mu, X. and Wu, Q. (2003) Synthesis of A Complete Sagittal Gait Cycle for a Five-Link Biped Robot, Robotica , 21 , 581-587.

C38. Mu, X. and Wu, Q., Sagittal Gait Synthesis for a Five-Link Biped Robot, Proceeding of the 2004 American Control Conference , Paper no. FrA03.5, 4004-4009, Boston, Massachusetts, June 30-July 2, 2004.

'Contribution to the Synthesis of Biped Gait,' IEEE Trans

Contribution to the synthesis of biped gait.

A series of computer simulations for two different types of biped robots show that the proposed running trajectory and impedance control method satisfy the two conditions for running stability and make the biped robot more robust to variations in the desired running speed, gait transitions between walking and running, and parametric modeling errors.

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    Contribution to the Synthesis of Biped Gait, IEEE Transaction on Bio-Medical Engineering, Vol

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