Sharif Digital Repository

This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot... 

This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot... 

The robots that can move on rough terrains are very important especially in Rescue operation, exploration, etc. In this research, a mechanism is introduced for a ring-like robot with a flexible body. This robot is moved by arms which are placed radially and have Reciprocating motion in this direction. By controlling the contraction and the extension of the arms which contact lhe ground, the robot will be forced to move which is called rolling-creeping motion. The robot is stable in stationary state.; also the maximum angle which it can be stable is determined. Considering the speed of contracted arm is the input parameter, the speed of the extended arm for locomotion of the robot has been... 

In this research, the static behavior of torsional nano-/micro-actuators under van der Waals (vdW) force is studied. First, the equilibrium equation governing the static behavior of torsional nano-/micro-actuators under vdW force is obtained. Then the energy method is utilized to investigate the statical stability of nano-/micro-actuator equilibrium points and a useful equation is suggested for the successful and stable design of nano-/micro-actuators under vdW force. Then, the equilibrium angle of nano-/micro-actuators is calculated both numerically and analytically using the homotopy perturbation method (HPM). It is observed that, with increasing instability number, defined in this paper,... 

The purpose of this paper is to analyze the aerodynamic and stability characteristics of airfoils in extreme ground effect, where gradients of variables are intense. Camber line of NACA4412 is modified to become S-shaped, named M4412, which turns the passage shape between the ground and the lower surface of NACA4412 from convergent to convergent–divergent. Reynolds-averaged Navier–Stokes equations with Spalart–Allmaras turbulence model have been solved by applying the finite volume approach. Lift of M4412 is less than that of NACA4412. Divergent effect normally creates a negative lift zone. Reducing the height when angle of attack is lower than a specific angle strengthens the divergent... 

In this paper, static behavior of nano/microm1irrors under Casimir force is studied. At the first, the equilibrium equation governing the statical behavior of nano/micromirrors is obtained. Then energy method is employed to investigate statical stability of nano/micromirrors equilibrium points and a useful equation is suggested for successful and stable design of nano/micromirrors under Casimir force. Then, equilibrium angle of nano/micromirrors is calculated both numerically and analytically using the homotopy perturbation method (HPM). It is observed that with increasing the instability number defined in the paper, the rotation angle of the mirror is increased and suddenly, pull-in occurs.... 

In this paper, the static stability of the variable cross section columns, subjected to distributed axial force, is considered. The presented solution is based on the singular perturbation method of Wentzel-Kramers-Brillouin and the column is modeled using Euler-Bernoulli beam theory. Closed-form solutions are obtained for calculation of buckling loads and the corresponding mode shapes. The obtained results are compared with the results in the literature to verify the present approach. Using numerous examples, it is shown that the represented solution has a very good convergence and accuracy for determination of the instability condition