Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.
Despite that a cross-polarization is a very efficient way to remove undesired reflections and specularities while imaging and digitizing certain type of materials. It does not come, however, with no risk when color fidelity and accuracy are of importance. This paper shows that a cross-polarization could alter and shift the Chroma component of a light source (D50) by different factors, undoubtedly, depending on the polarization filters' quality in-use. Statistics show a color difference, DE00, of at least 3.59 and at worst 7.34 when a cross-polarization is in-place compared to non-polarized settings. That corresponds to a shift in color correlated temperature ranging from 50K to 360K consequently.
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