Minimalistic control of biped walking in rough terrain

Toward our comprehensive understanding of legged locomotion in animals and machines, the compass gait model has been intensively studied for a systematic investigation of complex biped locomotion dynamics. While most of the previous studies focused only on the locomotion on flat surfaces, in this article, we tackle with the problem of bipedal locomotion in rough terrains by using a minimalistic control architecture for the compass gait walking model. This controller utilizes an open-loop sinusoidal oscillation of hip motor, which induces basic walking stability without sensory feedback. A set of simulation analyses show that the underlying mechanism lies in the "phase locking" mechanism that compensates phase delays between mechanical dynamics and the open-loop motor oscillation resulting in a relatively large basin of attraction in dynamic bipedal walking. By exploiting this mechanism, we also explain how the basin of attraction can be controlled by manipulating the parameters of oscillator not only on a flat terrain but also in various inclined slopes. Based on the simulation analysis, the proposed controller is implemented in a real-world robotic platform to confirm the plausibility of the approach. In addition, by using these basic principles of self-stability and gait variability, we demonstrate how the proposed controller can be extended with a simple sensory feedback such that the robot is able to control gait patterns autonomously for traversing a rough terrain. © 2010 Springer Science+Business Media, LLC.

Evidence of print gap airflow affecting web printing quality

The current study extends our earlier investigation on the real-time dynamics of print gap airflow around a single jetted drop over a moving substrate. In the present work, simulated web press printing was performed using a stationary grey-scale commercial inkjet print head to print full-width block of solid colour images onto a paper substrate with extended print gaps. The resultant printed images exhibit patterns or 'wood-graining' effects which become more prevalent as the relevant Reynolds number (Re) increases. The high-resolution scans of the printed images revealed that the patterns are created by oscillation and coalescence of neighboring printed tracks across the web. The phenomenon could be a result of drop stream perturbations caused by unsteady print gap airflow of the type similar to that observed in the previous study. ©2013; Society for Imaging Science and Technology.