What I Have Been A Nomad Since Birth - 934 Words

have been a nomad since birth. My family and I have moved from one place to another to escape poverty and war in our home countries. We had recently lost my father to the civil war and my mother escaped Ethiopia in fear for the lives of the rest of the family. With the war progressing, we moved to the slums of Nairobi, Kenya in an effort to seek asylum. We dreamed of life away from war and famine, seeking aid in neighboring countries in pursuit of eventually arriving in America. We stayed in Kenya for another 8 years and eventually migrated to America. Transitioning to America, I had culture shock. I struggled with understanding where I fit. The move to America made me feel isolated, I was completely away from a place I once called home. Assimilating was the hardest thing because I felt as though it stripped me of my culture and with it my identity. Having the last name Hussein and identifying as a Muslim didn t make my transition any easier. When I lived in Kenya, there were many others who shared that same last name. It was quite different in America. The first day of my seventh grade year of middle school made me conscious of where I stood on the American spectrum.. Up until that point, I felt partly American. At the time I was very much assimilating, even wearing Jordan sneakers like the rest of my classmates. On that same first day, I was called â€Å"Saddam Hussein’s brother† This insensitivity towards my last name continued up until high school. During Obama’sShow MoreRelatedThe Out of Africa Theory2004 Words   |  8 PagesHumankind has come a long way since the beginning of time and the beginning started in Africa. Anthropologists guess that we, Homo sapiens, come from other animals such as chimpanzees since they are our neighboring relative. Many other species arose in Africa as well and we all shared one thing and that was the ability to walk up on two legs. As time went on, our brains grew larger and we started migrating to other places such as Eurasia and started using tools. Ultimately, all of the species diedRead MoreWater Conservation in the world1442 Words   |  6 Pagesfacing a major water crisis worldwide. Water is a renewable, but limited resource. It can be recycled but not replaced. Consumption of global water has increased drastically since 1990, and many countries are reaching their limit of water supply (The Global Water Situation). World Bank reports that at least 80 countries now have a water shortage . It’s expected to get worse due to two significant problems that will effect our global water stability, population growth and groundwater depletion. OverRead MoreNarrative Of The Life Of Frederick Douglass1351 Words   |  6 Pagesslavery and provided key information to show the world how slavery really was. Frederick Douglass showed America how terrible the life as a slave was. Frederick Douglass was born a slave in Talbot County, Maryland. He was unsure about the day of his birth or the year. He believed that it was around 1817 or 1818. He was raised by his grandmother, Betty Bailey, who came into his life after his mother died when he was 10. After a long life of slavery he finally escaped. During his life he spoke at manyRead MoreThe Mongol Empire And The Empire1231 Words   |  5 Pages I was watching my cousin play Fallout Shelter, and he said that the things that are needed for a safe and long-lasting shelter is charisma, agility, strength, and perception. These four words best describe an innovative kingdom, and the kingdom that best fit all these words was the Mongol Empire, the mightiest and biggest Empire in the world. Mongols were nomads from north of the Gobi Desert. They were first ruled by Genghis Khan, which means Universal Ruler. Temuchin, which is Genghis birthRead MoreHow We Went from Neanderthals, to the Song Dynasty, to the Tang Dynasty2019 Words   |  9 PagesHumankind has come a long way since the beginning of time and the beginning started in Africa. Anthropologists guess that we, Homo sapiens, come from other animals such as chimpanzees since they are our neighboring relative. Many other species arose in Africa as well and we all shared one thing and that was the ability to walk up on two legs. As time went on, our brains grew larger and we started migrating to other places such as Eurasia and started using tools. Ultimately, all of the species diedRead MoreMali ´s Hungry People1429 Words   |  6 PagesWhile reading about Mali in Hungry People, I noticed that the people all looked so happy – and healthy! I found it odd, considering their limited diet, consisting of mostly grains, very little meat, and a few vegetables, along with drinking only well water. I guess it is possible to survive, and in their case, thrive, on such a limited diet. In Alaska, where the Eskimos eat a mainly whale blubber, they also do fine. The addition of so many chemicals, preservatives and unknown additives to ourRead MoreThe General History Of Ancient Mesopotamia1247 Words   |  5 Pagesrole in the lives of many. Many of services and the rituals were based around specific rites of passage, like marriage and birth, and such occasions were generally celebrated using a banquet that occasionally contained dancing, music and food , though the social status of your family established the food available. Though instruments happen to be discovered, it s not known what type of music they played. (O Neal, Jones, Schlagel Weisblatt, 2007) In their everyday lives, the guys would venture outRead MoreMax Weber’s and Mircea Eliade’s Disagreement with Durkheim, Marx and Freud1730 Words   |  7 Pageseconomic position and thus provide them satisfaction, while they are promised salvation in paradise. Durkheim reduced religion as something created by the social interaction of people, thus making religion a social phenomenon, in which people interact and have rites. Freud, on the other hand, explained religion as being neurotic due to people’s obsession with security alongside the father. All in all, these three theorists attempted to reduce religion to its basic elements, which they later used to explainRead MorePalm Oil Industry and Its Effects on the Indigenous Pleople of Ecuador1383 Words   |  6 Pageswill cause issues with tribes like the Waorani, who are nomadic and depend on the forest for food, shelter, and clothes. If we treat the forest like we did with the Indians in North America, their cu lture and way of life may not survive. They may not have enough forest left to continue their nomadic life. The Waorani are dependent on the forest for their survival. The Waorani depend on the animals for food, the plants for medicine, the crops to build their homes and beds (Nova 1984). If the company’sRead MoreHow To Protect The Environment2044 Words   |  9 PagesAnother problem we have with placing a price on the environment and natural resources are having everyone agree on the prices. Some people in politics will see somethings as important while others are an afterthought. We see this now in capitol hill on how our congressmen are handling women contraceptive and birth control. The census is a must for voting for new laws and bills in our society, but we would also need to implicate an incentive strategy to motivate companies to go green and protect our

The Existence of God through reasoning and evidence - Free Essay Example

Sample details Pages: 3 Words: 817 Downloads: 6 Date added: 2019/08/08 Category Religion Essay Level High school Tags: Existence of God Essay Did you like this example? The world of Philosophy can often be a tricky place and without proper understand of the texts and articles you read, you can very easily find yourself being misled. There are many that I still find puzzling and have a difficult time understanding. One of the arguments, that I find the most difficult to understand, is rationalism and using it to argue the existence of God. Don’t waste time! Our writers will create an original "The Existence of God through reasoning and evidence" essay for you Create order Each culture and religion have their own story as to how life began. These are often called creation narratives. In my argument, I would like to argue that there is a God and that he is our creator. Rationalism can be defined as the view that through unaided reason we can come to know that the world is like. (P. 266) (Vaughn) In other words, rationalism is our way of understanding the world around us through reasoning and knowledge. This type of argument would be considered as a deductive argument. A deductive argument can be defined as an argument intended to give logically conclusive support its conclusion. (P. 16) (Vaughn) In other words, a deductive argument is a type of argument that provides premises that are true and will ultimately lead to a true conclusion to an argument. My premises to this argument include, God does exist, we had to be created from someone instead of something, and that there have been events listed in the bible that have been archeologically proven. These are my premises to the existence of God. Many people like to try and disprove the existence of God through reasoning and evidence. These people could be defined as empiricists. Empiricism can be defined as the view that our knowledge of the empirical world comes solely from sense experience. (P. 266) (Vaughn) This type of person refuses to believe in the things that they do not have any tangible or physical proof or have experiences something through their sense experiences (feeling, touch, sight) or posterioi knowledge. A rationalist can successfully defend their argument from the attack of an empiricist or someone who is a skeptic if they are strong in their beliefs and provide sound premises like the ones listed. I believe that God exists and that he is our creator. In the video of Bernard Williams on Descartes, Williams makes a valid argument on the existence of God and I believe that it ties up with rationalist theories. In this video, makes an argument stating that there is a God by arguing that Since I have the idea of God, it can only be because there actually is a God who created me. I know that he created me, and I know that he is benevolent and because God created me, and is benevolent, he is concerned with my intellectual welfare as with my moral welfare. (Youtube) (20:44-22:06) Essentially, I think what Williams meant by that statement was the fact that the reason that we believe that there is a God is because God gave us knowledge of himself in our minds before we were even born. It is like the innate knowledge that Plato described in Chapter six. Innate knowledge can be defined as knowledge of immaterial ideals already present at birth, inscribed in our minds (our immortal souls) in a previous existence. (P. 270) (Vaughn) In other words, if God didnt give me knowledge of himself, how do I know that he is real? There has to be a God because we had to be created by someone instead of something. It is hard to believe that we are here, and life is sustainable all because of a big bang. The sun is not too close and it is not too far away. We have the perfect temperature, ample amounts of sunlight, and oxygen to breathe. Everything we need to survive is perfectly in its place. This is an example of efficient causes. (P. 64) (Vaughn) People are often skeptical of the events in the bible. However, archeologists have been able to unearth various items to prove that some of the events listed in the bible had occurred. For instance, there are many signs that there was once a great flood across the surface of the earth. There have been whale bones along with various other fossils of marine life found at the top of the Andes mountains in Chile. The Andes mountains are nearly 23,000 ft tall. The fossils were found more than 130 feet above sea level and they were perfectly preserved. (Mohan) The findings of these fossils are a great indicator that, at one point in time, the earth was covered with water. Mohan, Geoffrey. Scientists Solve Mystery of Mass Whale Graveyard in Chile. Los Angeles Times, Los Angeles Times, 26 Feb. 2014, articles.latimes.com/2014/feb/26/science/la-sci-sn-mass-whale-grave-yard-20140226. (Youtube) Bernard Williams on Descartes (1987). YouTube, YouTube, 7 Nov. 2015, www.youtube.com/watch?v=7dIf7MapuqEfeature=youtu.be. Vaughn, Lewis. Philosophy Here and Now: Powerful Ideas in Everyday Life. Oxford University Press, 2016.

American Fast Food Free Essays

The most popular American fast food products are hamburgers, cheeseburgers, hot dogs and French fries. Fast food has become an important part of the American Food Culture for a long time. In fact, America is called a fast food country due to its strong fast food habits. We will write a custom essay sample on American Fast Food or any similar topic only for you Order Now According to some surveys, Americans spend more money on fast food than on education, new cars and computer software buying; 200 millions of Americans visit fast food restaurants weekly; nearly 90 percents of American children visit McDonald’s every month. There are several reasons why this is happening. Firstly, as the industrialization and technology keep developing, Americans seem to be much busier with their life. As a result, they pay much less attention and less time for their meals. People need foods which require short time to get but still taste good. And those are exactly the characteristics that fast food has. Secondly, American culture is very individualistic. This individualism results in many people living alone at a very young age. And those who are single or living alone are more likely to rely on fast food, because they think it is simply a waste of time to spend 45 minutes cooking and cleaning for one or at most two meals for one person. Many in the average households of two, three, or four feel the same way about cooking. Thirdly, fast food is very convenient. They can be packaged and carried everywhere. In addition, you can easily find fast food chains even at mid-night. Moreover, fast food companies have even simplified the buying process by creating the drive-through restaurants, which allow customers to purchase products without leaving their cars. Next, fast food is usually cheap. It’s affordable for the consumers, especially when the economy is having a difficult time like these days. However, fast food is not good for our health. Fast food nutritional information shows that most meals contain high numbers of calories, saturated and trans-fats. In fact, you can eat all the calories your body needs for the day in one meal. Furthermore, you will actually receive very little nutrients from all of these calories. The white breads, sugars and animal fats that are packed into most fast foods contain very few vitamins and minerals. Eating these foods with tons of calories and fat on a regular basis leads to obesity. Obesity has become a big problem in America. Americans are heavier and unhealthier than ever before. This has led to millions of people suffering from threatening conditions such as heart disease, stroke, diabetes, reduced bone strength and many other health elated problems. For someone who consumes these too much, it may lead to liver failure due to the high amount of fat, salts and oil in it. Too much of fast food on a regular basis can make a person overweight due to the extra calories given in those foods. It affects the concentration levels in studies and other activities too. Although fast food has a lot of bad sides, Americans can not eliminate them due to its conveniences. In short, fast food is an important part of the Food Culture; it has become a way of life for many Americans. How to cite American Fast Food, Papers

Control System for The Robotic Joint

Question: Discuss about the Control System for The Robotic Joint. Answer Introduction The excessive feedback procurement has precise disturbance rejection, robustness and tracking abilities within the inflexible frame case. It is applicable to hold those functions whilst the joints are significantly flexible. This study examines the feedback control system for the robot with very flexible joints. The feedback is done from DH joint angles in the robot. The Robot is like an open kinematic series with some revolute joints. The Joints are demonstrated as direct torsional springs as well as joint damping is very small. The Drives are appended at all the joints. Since, the engine edges are presently not as same as the connection points, the feedback from the drive side of the adaptable joints is diverse with the feedback input from the connection side of the adaptable joints. For settled 0 angle with nonlinear terms might be taken as an unsettling influence, the exchange work from the drive torque to engine point has just limited zeros while the exchange work from the drive torque to connection edge has some unbounded zeros. The settling control rules and laws for the quick elements are acquired, while utilizing inputs two arrangements are proposed. The Expecting joint torque can be measured, a joint torque control law can balance out the quick progression then again a compensator can be intended to specifically balance out the quick flow in the quickening feedback circle. Feedback control framework in Robotic Joint The criticism of high pick up has great unsettling influence dismissal power concerning plant and load varieties and great following capacity. The high pick up speeding input for an inflexible body, robot is like the registered torque or criticism linearization control law. Criticism is utilized as 'work bolstered by NSERC Canada give a number 4394 to change the inflexible body progression into R paired twofold integrators. The second control rule is then used to control the integrators rather being dropping the nonlinear terms, which are presently an unsettling influence to be rejected or around crossed out ("Shifting an Object by Robot Using Haptic Shared Control System", 2016). For a perfect unbending body, the speeding up input will bring about a stable shut circle framework. With the inflexible joints, quickening input from the connection side is as same as speeding up criticism from the drive side of the joint (Rigelsford, 2003). With an adaptable joint robot, engine edges are presently extraordinary from the connection points. In this manner, the increasing speed input from the drive side of the adaptable joints is distinctive to quicken the criticism from the connection side of the adaptable joints. For settled 0 and with the non-linear terms considered as aggravations, the exchange work from drive torque to engine point has just limited zeros while the exchange work from drive torque to connection edge has some unending zeros (Recent progress in robotics: viable robotic service to human, 2011). The high pick up in the speeding criticism circle from the connection points can be destabilized because of the nearness of joint flow. The Settling control laws for the quick flow are acquired, when utilizing the speeding up input, two arrangements are proposed. It is sensible to accept that more updated eras of engines will be accessible when factory incorporates both torque angle edge estimations. Accepting the joint torque can be measured. A joint torque con trol law can balance out the quick progression or on the other hand, a compensator can be intended to specifically settle the quick flow in the quickening input circle (Wang, Dong, Bai, 2010). The shut circle data transfer capacity of the robot flow can then be expanded while holding the helpful properties of speeding up input, for example, vigor and aggravation dismissal (Petkovic, Pavlovic, Issa, 2013). Presently, there are two extensive parameters related to the quick clynanics, joint solidness and speeding up pick up. A lot of study has centered the control of flexible joint robots. The starting from the main control techniques produced for inflexible body controllers, there are some intense theoretical results concerning the management and control of all the controllers with joint versatilities. These incorporate particular perturbation and fundamental complex, input linearization, and dynamic criticism linearization alongside the versatile control systems. The basic complex and solitary annoyance systems take care of the control issue by the two phase procedure (Metelskii, 2015). They propose a quick joint torque control circle, relating to the quick part of the controller elements, and a slower external control circle compared to the inflexible body flow of the robot. A control framework for accomplishing rapid torque for a joint of a robot incorporates a printed circuit board get together (PCBA) having an assembled joint processor and fast correspondence transport. The PCBA might likewise incorporate a PIM and neighborhood SCE for handling sensor information from at least one engine position sensors (Weinberger, Braatz, 2014). Torque control of an engine of the joint is given by means of the PCBA as a rapid torque circle. Each joint processor might be installed inside or assembled with the mechanical joint being controlled ("Shifting an Object by Robot Using Haptic Shared Control System", 2016). The Collocation of the joint processor, PIM, and rapid transport may expand commotion invulnerability of the control framework, and the limited handling of sensory information from the joint engine at the joint level may limit transport cabling to and from the each control hub. The joint processor may incorporate the FPGA (Katayama, 2015). Feedback System The criticism control procedures utilize estimation and estimation of the framework state to diminish vibration. Criticism control, utilize estimation or estimation of the framework states as a contribution of the controller close to the reference an incentive to decrease the vibration(Hernandez-Santos, Rodriguez-Leal, Soto, Gordillo, 2012). The Feedback controllers can be intended to be strong to parameter vulnerability. For adaptable controllers, bolster forward and criticism control procedures are utilized for vibration concealment and position control, individually. A worthy framework execution without the vibration that record for framework changes can be accomplished by building up a mixture controller comprising of both control strategies. Subsequently, an appropriately planned encourage forward controller is required, with which the multifaceted nature of the required criticism controller can be decreased. These strategies depend on the exact framework model and make the fra mework exceptionally touchy to demonstrate blunders that can influence the framework performance. Various methods have been proposed to encourage the forward control procedures for the control of vibration (Haddad, 2015). Swings has inferred a moulded torque, which limits the leftover vibration and the impact of parameter varieties that influence the modular frequencies. In any case, the constraining capacity is not time-ideal. A few analysts have concentrated the use of registered torque systems for the control of adaptable manipulators. Be that as it may, this strategy experiences a few problems. Components utilized for the robot actuation as well as feedback Position as well as Velocity Sensors: The Position sensors are the input gadgets used to discover the exact development of joints for fulfilling the required bearing and position of the end effector. A robot requires speed sensors for controlling the speed of the controller development (Fujita, 2012). The Position sensors utilize a few gadgets, for example, resolvers, potentiometers, and encoders for detecting the position, while the speed sensors incorporate DC tachometer for giving proper speed. Every single robot requires input gadgets for conveying the exact speed control. Indeed, even as of late created entangled control framework additionally scarcely depends on these gadgets for increasing the better execution of the robot controller in a few errands like deceleration and speeding up. Actuators as well as Power Transmission Systems: A controller utilizes the actuators along with the power transmission framework for accomplishing the control activities. Thus, these gadgets help in producing power for moving the robot arm. The actuators are utilized to give energy to the robot joints with the assistance of the power transmission frameworks (Fred, Filipe, Gamboa, 2010). Now and again, the power transmission frameworks won't be required if the actuators are connected to the robot joints itself. A portion of the gadgets that are utilized as the actuators are pneumatic, water powered, and electric (Goodwin, Graebe, Salgado, 2011). The power transmission frameworks make utilization of apparatuses, screws, as well as pulleys for playing out this instrument. Equipment depiction The two very light-weight robots created at the DLR are extremely appropriate for the execution and testing of the control calculations described in the previous area. By outlining profoundly incorporated mechanical and electrical segments, a heap to possess weight proportion of 1:2 is accomplished, for a robot weight of 17kg. For joint control, the engine position and the joint torque signals in light of strain gage innovation are accessible (Fischer, 2010). The new robot is furnished with connection position sensors also. Moreover, a 6 DOF drive torque sensor is incorporated in the robot's wrist. Both robots are excess 7 DOF controllers. The utilization of a ?oating point flag processor for each joint controller as well as very fast optical communicating bus (1ms) between the joints and the robot controller gives the essential ?exibility and registering power for included control calculations (Ellis, 2016). Fig. 1:DLR light-weight joint robot Image Source:alin.com Controller structure For the design of the controller, we can start by considering the robot model proposed by Spong: m = J q1 + + DK1 ? +F (1) +DK1 ? = M(q2) q2 + C(q2, ? q2)? q2 + g (q2)(2) = K(q1 q2) (3) Where, m is the engine torque vector, q1 and q2 the engine and connection positions, separately, and the joint torque. J is the engine idleness grid, K and D, are the flexibility and damping frameworks, brought about predominantly by the rigging box and the torque sensor (Hernandez-Santos, Rodriguez-Leal, Soto, Gordillo, 2012). These lattices are inclining and positive de?nite. M, C and g are the same with respect to sti? robots: the mass grid, the Coriolis and centripetal torque vector and the gravity vector. In these conditions, the active vitality of the rotors because of connection developments is ignored, just the dynamic vitality because of their own pivot being considered. For the diminishment proportion of 160 of our robots, this is a decent estimate. F is the grinding power vector (Deng, Li, Zheng, Yao, 2011). Fig. 2:Controller stucture Image Source: Experimental results A noteworthy reasonable stride for the execution of the proposed controller structure is the parameter identi?cation. Due to the huge number of parameters, we partitioned them in a few gatherings which were identi?ed independently. The robots kinematic and element parameters are correctly processed utilizing the current mechanical CAD projects, and estimation based advancement of these parameters brought no significant upgrades. The rubbing parameters were identi?ed in view of the current, torque and speed estimations on significant directions for the entire robot. Although the characteristics of the current controlled engines can be identi?ed together with the rubbing parameters, this prompts an awful molding of the advancement issue. Accordingly, the engine parameters were likewise identi?ed independently utilizing an engine test-bed. The FEM assessment for the joint flexibility were not sufficiently exact, so we decided it from the joint wavering recurrence, knowing the latency. T hen in the robot, the available sensors enable online computation of the versatility. The identi?cation brought about an exceptionally correct reproduction, which is utilized for the outline and trial of the controllers. Fig. 3:Feedback control of robot Image Source: alin.com Conclusion This study concludes that a state feedback controller for the ?exible joint robots can be stretched out bit by bit to assess the full robot flow. It has been demonstrated that even with the basic, ?xed pick up the controller, the joint can be balanced out around a reference position and the oscillations brought on by the joint ?exibility are effectively damped. Contrasted with different controllers, this one is e?cient for all intents and purposes and simple to execute notwithstanding for some DOF, and still hypothetically be very much established. The effectiveness of the controller is approved through the examinations on the DLR light-weight robots. References Built-in PLC makes Cartesian robot cell a tool for complete system control. (2014).Industrial Robot: An International Journal,31(1). DENG, Z., LI, X., ZHENG, K., YAO, W. (2011). A Humanoid Robot Control System with SSVEP-based Asynchronous Brain-Computer Interface.ROBOT,33(2), 129-135. ELLIS, G. (2016).Control system design guide (1st ed.). [Place of publication not identified]: ELSEVIER BUTTERWORTH-HEIN. Fischer, I. (2011). A geometric method for determining joint rotations in the inverse kinematics of robotic manipulators.Journal Of Robotic Systems,17(2), 107-117. Fred, A., Filipe, J., Gamboa, H. (2010).Biomedical engineering systems and technologies(1st ed.). Berlin: Springer. Fujita, M. (2012). Robot Behaviour Control System and method, and robot apparatus.The Journal Of The Acoustical Society Of America,132(4), 2779. Goodwin, G., Graebe, S., Salgado, M. (2001).Control system design(1st ed.). Upper Saddle River, N.J.: Prentice Hall. Haddad, F. (2015). Robotic surgery: edge of tomorrow?.The Bone Joint Journal,97-B(3), 289-290. Hernandez-Santos, C., Rodriguez-Leal, E., Soto, R., Gordillo, J. (2012). Kinematics and Dynamics of a New 16 DOF Humanoid Biped Robot with Active Toe Joint.International Journal Of Advanced Robotic Systems, 1. Katayama, H. (2015). Output Feedback Stabilizing Controllers for Nonlinear Sampled-Data Strict-Feedback Systems.SICE Journal Of Control, Measurement, And System Integration,8(2), 94-98. Metelskii, A. (2015). Feedback control of the spectrum of differential-difference system.Automation And Remote Control,76(4), 560-572. Petkovic?, D., Pavlovic?, N., Issa, M. (2013).Passively compliant robotic joint with embedded sensors(1st ed.). Saarbru?cken: LAP LAMBERT Academic Publishing. Recent progress in robotics: viable robotic service to human. (2008) (1st ed.). Berlin. Rigelsford, J. (2013). Control system.Industrial Robot: An International Journal,30(2). Shifting an Object by Robot Using Haptic Shared Control System. (2016).International Journal Of Science And Research (IJSR),5(5), 177-180. Wang, J., Dong, L., Bai, Y. (2010). State Feedback Controller Design for Exponential Stability of Networked Control System.International Journal Of Computer And Electrical Engineering, 203-207. WANG, J., YANG, C., WANG, Z., WANG, Q., SONG, T. (2010). Wireless Measurement and Control System for a Novel Bionic Micro-Robot.ROBOT,32(1), 34-40. Weinberger, M., Braatz, R. (2014). A Real Nobel Prize for a Feedback Control System: Simon van der Meer [Feedback].IEEE Control Systems,34(2), 14-14. XIE, L., WANG, Z., WANG, C., XU, J. (2010). A Robust Walking Control System of Humanoid Robot.ROBOT,32(4), 484-490. Zhang, Z. (2012). Design Optimization of a Cable-Driven Two-DOF Flexible Joint Module.International Journal Of Advanced Robotic Systems, 1.