Biologically inspired joint control for a humanoid robot

The GuRm is a 1.2m tall, 23 degree of freedom humanoid consuucted at the University of Queensland for research into humanoid robotics. The key challenge being addressed by the GuRw projcct is the development of appropriate learning strategies for control and coodinadon of the robot’s many joints. The development of learning strategies is Seen as a way to sidestep the inherent intricacy of modeling a multi-DOP biped robot. This paper outlines the approach taken to generate an appmpria*e control scheme for the joinis of the GuRoo. The paper demonsrrates the determination of local feedback control parameters using a genetic algorithm. The feedback loop is then augmented by a predictive modulator that learns a form of feed-fonward control to overcome the irregular loads experienced at each joint during the gait cycle. The predictive modulator is based on thc CMAC architecture. Results from tats on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.

Improved joint control using a genetic algorithm for a humanoid robot

This paper describes experiments conducted in order to simultaneously tune 15 joints of a humanoid robot. Two Genetic Algorithm (GA) based tuning methods were developed and compared against a hand-tuned solution. The system was tuned in order to minimise tracking error while at the same time achieve smooth joint motion. Joint smoothness is crucial for the accurate calculation of online ZMP estimation, a prerequisite for a closedloop dynamically stable humanoid walking gait. Results in both simulation and on a real robot are presented, demonstrating the superior smoothness performance of the GA based methods.

Emily Kame Kngwarreye and the undeconstructible space of justice

Selected as part of an anthology featuring best or most representative of 20th century art writing. Other authors in anthology included Benjamin, Greenberg, Krauss, T.j. Clark, Roger Fry, Stuart Hall, etc. Intended as US textbook. My essay featured as part of study day on globalism in art at Tate Modern. Essay itself subject of PhD thesis by Sally Butler of EMSAH and other subsequent commentaries.

Infiltration effects on sediment mobility under waves

Sediment mobility measurements with a horizontal sand bed under non-breaking waves are reported. Conditions include no seepage and steady downward seepage corresponding to head gradients up to 2.5. The results indicate that infiltration tends to inhibit sediment mobility for a horizontal bcd of 0.2 mm quartz sand exposed to moderated wave induced bed shear stresses. The effect is weak for the parameter range of the present study. The two opposing effects of shear stress increase due to boundary layer thinning and the stabilizing downward drag are successfully accounted for through the modified Shields parameter of Nielsen [Nielsen, P., 1997. Coastal groundwater dynamics. Proc. Coastal Dynamics '97, Plymouth, ASCE, Dp, 546-555] using coefficients derived from independent studies. That is, from the shear stress experiments of Conley [Conley, D.C., 1993. Ventilated oscillatory boundary layers. PhD Thesis, University of California, San Diego, 74 pp.] and the slope stability experiments of Martin and Aral [Martin, C.S. and M.M. Aral, 1971. Seepage force on interfacial bed particles. J. Hydraulics Div., proc. ASCE, Vol. 97, No. Hy7, pp. 1081-1100]. (C) 2001 Elsevier Science B.V. All rights reserved.