Description
Introduction à la commande des robots humanoïdes
De la modélisation à la génération du mouvement
Authors: KAJITA Shuuji, HIRUKAWA Hirohisa, HARADA Kensuke, YOKOI Kazuhito
Language: FrenchSubjects for Introduction à la commande des robots humanoïdes:
Publication date: 02-2009
212 p. · 15.5x23.5 cm · Paperback
Not Available To Booktrade
212 p. · 15.5x23.5 cm · Paperback
Not Available To Booktrade
Description
/li>Contents
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Ce livre expose les toutes récentes avancées technologiques en matière de
robotique humanoïde. Après un rappel des notions mathématiques et
physiques fondamentales, il expose les modèles et les techniques
actuellement utilisées pour générer un mouvement humanoïde simple et
propose des exemples de programmation en code Matlab® pour réaliser des
mouvements de base (marche bipède, stabilisation, préhension d'un objet).
L'ensemble de ces applications sont validées sur le robot japonais HRP-2.
1. Introduction. 1.1 Why SOI? 1.2 What is SOI? —Structure —. 1.3
Advantages of SOI. 1.4 History of the Development of SOI Technology. 1.5
Partially-Depleted (PD) and Fully-Depleted (FD) SOI . MOSFETs, and Future
MOSFETs. 1.6 Summary. References. 2. FD-SOI Device and Process
Technologies.2.1 Introduction. 2.2 FD-SOI Devices. 2.3 Theoretical Basis
of FD-SOI Device Operation: DC Operation. 2.4 FD-SOI CMOS Process
Technology. 2.5 Summary. References 3. Ultralow-Power Circuit Design with
FD-SOI Devices. 3.1 Introduction. 3.2 Ultralow-Power Short-Range Wireless
Systems. 3.3 Key Design Factor for Ultralow-Power LSIs. 3.4
Ultralow-Voltage Digital-Circuit Design. 3.5 Robustness of
Ultralow-Voltage Operation. 3.6 Prospects and Issues in Low-Voltage Analog
Circuits. 3.7 Technology Scaling, Analog Performance, and Performance
Trend for Electrical Systems. 3.8 Low-Voltage Analog Circuit. 3.9
Fully-Depleted SOI Devices for Ultralow-Power Analog Circuits. 3.10 Future
Direction of RF and Mixed Signal Systems. 3.11 Summary. References. 4.
0.5-V MTCMOS/SOI Digital Circuits.4.1 Introduction. 4.2 MTCMOS/SOI
Circuits. 4.3 Adder. 4.4 Multiplier. 4.5 Memory. 4.6 Frequency Divider.
4.7 CPU. 4.8 Summary. References. 5. 0.5-1V MTCMOS/SOI Analog/RF
Circuits.5.1 Introduction. 5.2 RF Building Blocks. 5.3 AD and DA
Converters. 5.4 DC-DC Converter. 5.5 I/O and ESD-Protection Circuitry for
Ultralow-Power LSIs. 5.6 Summary. References 6. SPICE Model for SOI
MOSFETs.6.1 Introduction. 6.2 SPICE Model for SOI MOSFETs. 6.3 Parameter
Extraction. 6.4 Example of SOI MOSFET Simulation. 6.5 Summary. References.
7. Applications. 7.1 Introduction. 7.2 1-V Bluetooth RF Transceiver and
Receiver. 7.3 Solar-Powered, Radio-Controlled Watch. 7.4 Batteryless
Short-Range Wireless System. 7.5 Summary. References. 8. Prospects for
FD-SOI Technology. 8.1 Introduction. 8.2 Evolution of Nanoscale FD-SOI
Devices. 8.3 Device and Substrate Technologies for Ultrathin-Body SOI
MOSFETs. 8.4 Power-Aware Electronics and Role of FD-SOI Technology. 8.5
Summary. References.
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