• Journal of KIISE:Software and Applications
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• v.36 no.2
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• pp.131-143
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• 2009

Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG (Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. 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. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.

• Journal of Sericultural and Entomological Science
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• v.18 no.2
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• pp.89-93
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• 1976

The physiological saline solution for animals is known as Ringer's solution which is used for keeping the function of cold blooded vertebrate animals. Primaily the saline solution is used for the purpose of perfusion experiment in frogs. Later the saline solution is applied in several kinds of animals including human being with satisfactory results. However, this saline solution was introduced to silkworm and it was found that the result was not as successful as in the case of other animals and human being. Normally, in the case of silkworm, the physiological saline solution is prepared in order to maintain the normal function of separated organs and tissues. To this end, the saline solution is adjusted to contain the certain amount and strength of ions, osmosis pressure and hydrogen concentration. The most of cases, the physiological saline solution should be prepared so that the constituent of the solution be the same with the blood selium and body fluid. The hydrogen concentration in the ion element of the saline solution is adjustable by adding Na$\^$＋/, K$\^$＋/, Ca$\^$＋＋/, Mg$\^$＋＋/ which are followed by adding of buffer solution such as NaHCO$_3$and NaH$_2$PO$_4$. Determination of optimum concentration of cation in the physiological saline solution, and the optimum mixing rate of more than two kinds of cations are based on the movement of dorsal vessel in the silkworm larvae. The optimum concentration of cations in the solution is prepared by adding NaCl solution which is under zero point. However, this solution was further added with the different concentration of KCl and CaCl$_2$. By dropping the prepared solution on the 5th larvae, the effects of solution was measured. The measurement was done by observation of movement' of dorsal vessel and its time length, and the number of pulses. According to the experiment, it was found that when only NaCl solution was applied, the number of pulses is increased for a moment, and the pulse stopped after one hour or so. When KCl solution was added the time of pulse was prolonged and in the contrast, the number of pulses was slow down. If KCl and CaCl$_2$solutions are added the time of pulse was further prolonged. Even though the adding of KCl and CaCl$_2$are found to be effectible, the correlation between the concentration of solution and the movement of dorsal vessel was not observed. However, it was same in the case of adding Ca$\^$＋＋/ or K$\^$＋/. It was found that when Mg$\^$＋＋/ was added to dorsal vessel the number of the pulses was not decreased although the prolonged time pulse was observed.