For implementing the model presente

For implementing the model presented above, we used the
BIOLOID robotic kit [24]. 16 AX-12+ Dynamixel actuators were
used. These actuators are modular DC servo motors containing
built-in controllers, drivers, communication protocols and reduction
gears. When supplied recommended voltage of 9.6 V, the maximum
actuator torque is 16.5 kgf cm and the maximum angular
velocity is 51 rpm. Actuator angles and speed can be controlled in
a 1024-step resolution. The built-in controller is able to measure
actuator angle, speed and torque. This feedback capability is essential
for implementing the algorithm. The robots overall length
when nonoperational and fully stretched is 750mm.With an external
power source, the CLIBO prototype weighs 2 kg, which makes
it very compact and easy to carry. Table 1 summarizes the robots
physical properties and other specifications.

結果 (中文) 3:

为实现上述模型，我们使用
Bioloid机器人套件[ 24 ]。16 ax-12 Dynamixel驱动器是
使用。这些驱动器是模块化直流伺服电机驱动，含
内置控制器，通信协议和还原
齿轮。当提供建议的电压9.6 V，最大
执行器扭矩16.5公斤厘米，最大速度为每分钟51转角
。执行器的角度和速度可以在
1024步进分辨率控制。内置的控制器是能够测量
执行角度，速度和转矩。这种反馈能力是实现算法的基本
。机器人总长度时，
性是充分伸展750mm。与外部
电源，该clibo样机重2公斤，这使得
它很小巧，便于携带。表1总结了机器人
物理性能和其他规格。