SilverLit Kombat Balloon, Robot, Twin Pack Robots, Children, Robots Battles, Combat Toys, Gifts for Child (88038)

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When the robot is in a single support phase ( Figure 5C), there is only one supporting force upward, and additionally, the force needs to support the weight of the swing leg, resulting in the height decreasing, and the body sinking down.

Bray, F. et al. Global cancer statistics 2018: Globocan estimates of incidence and mortality worldwide for 36 cancers in 185 countries. CA: a cancer journal for clinicians 68, 394–424, https://doi.org/10.3322/caac.21492 (2018). Rodrigue, H., Wang, W., Han, M.-W., Kim, T. J. Y. & Ahn, S.-H. An overview of shape memory alloy-coupled actuators and robots. Soft robotics 4, 3–15, https://doi.org/10.1089/soro.2016.0008 (2017). Horton, K. M., Corl, F. M. & Fishman, E. K. Ct evaluation of the colon: Inflammatory disease. RadioGraphics 20, 399–418, https://doi.org/10.1148/radiographics.20.2.g00mc15399 (2000). BALLU is a unique bipedal robot that, because of the external buoyancy force and its simple configuration, exhibits a distinct locomotion behavior different from conventional bipeds. When a first-time operator is tasked to trigger each leg individually and make the robot walk, it can respond with non-intuitive behaviors. The most noticeable is the turning in the yaw direction, where because of the underactuation and the mass of the legs relative to the entire body, the body’s yaw orientation can change significantly depending on the duration that the robot is in the single stance phase. Furthermore, as the body oscillates up and down during locomotion and since buoyancy and drag distort the speed at which the robot moves, BALLU looks as if it is slowly striding in space. Such non-intuitive and unconventional behavior inherent by the design calls for a detailed analysis of the platform’s motions to potentially leverage them for control. 3.1 Challenge

Kozarek, R. A., Earnest, D. L., Silverstein, M. E. & Smith, R. G. Air-pressure-induced colon injury during diagnostic colonoscopy. Gastroenterology 78, 7–14, https://doi.org/10.1016/0016-5085(80)90185-7 (1980). During a colonoscopy, air or gas is used to inflate and expand the colonic lumen with an internal pressure up to 7.6 kPa 47, 48, which is higher than the balloon activation pressure required in SPID. The pressure of the balloon against the colonic wall is the result of the internal air pressure ( P B) minus the elastomer mechanical pressure ( P E). This produces an external pressure on the colon wall, which is much lower than the pressure pain threshold encountered during standard colonoscopy. SPA design Since the concept of BALLU was first unveiled by Ghassemi and Hong (2016), there have been further studies of robot platforms adopting helium balloons and leveraging their buoyancy force. One noticeable work is the Giacometti Arm designed by Takeichi et al. (2017), a 20-m helium balloon supported robot arm designed for inspection tasks. This manipulator has 20 joints driven by pneumatic and thin artificial muscles. Among mobile platforms, GerWalk by Yamada and Nakamura (2018) is one that is very resemblant to BALLU. Because its body is a helium balloon, it is able to easily traverse stairs and other obstacles with stability. Nayar et al. (2019) of JPL also proposed a balloon based walking robot for Mars exploration. Flex-wing glider: A flex-wing glider is a glider with wings that are flexible and can change shape. They are less common than rigid-wing gliders and are used for military applications, such as surveillance. Colonoscope training model, kyoto kagaku co., ltd, fushimi-ku kyoto, japan, https://www.kyotokagaku.com/products/detail01/m40.html (Accessed: 22-03-2019).

For the design parameters and the knee joint displacement θ within the joint limits, a range of spring constant κ can be obtained from Eq. 8. Among satisfying κ, we prefer to choose a relatively low stiffness. It is because, when the spring constant takes a lower value, the dynamics change more drastically between a single support phase and a double support phase, and the controller would have more options to control its motion by adjusting each phase length. Through a handful of empirical tests, a torsion spring with 0.1409N mm/deg with 135° was chosen. 2.1.5 Feet Appleyard, M. N. et al. The measurement of forces exerted during colonoscopy. Gastrointestinal Endoscopy 52, 237–240, https://doi.org/10.1067/mge.2000.107218 (2000).

7 Conclusion

Wang, K. et al. Full-driving soft robotic colonoscope in compliant colon tissue. Journal of Medical Engineering & Technology 41, 1–8, https://doi.org/10.1080/03091902.2017.1394387 (2017). Based on the careful analysis of the motions from experts’ teleoperation, a data-driven controller is suggested to handle the highly nonlinear dynamics. First, a set of teleoperation data in the simulation were collected in different scenarios. Next, to extract underlying state vectors of the complex dynamics, the correlations between the kinematic quantities were statistically evaluated; for each phase of walking, the quantities that have a high Spearman Correlation Score (SCC) were chosen as state variables. Then, their relationship was approximated using an artificial neural network, which is trained on the same data.