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Actuations are completely isolated and installed on the robot frame, to reduce the moment of inertia.
Four cameras are installed on the robot and PT to send real-time videos back for analysis.
The sensors installed on the robot include an inertial measurement unit and an electric compass sensor for inertial guidance.
All the drive-motors are installed on the robot body to reduce the rotary inertia of the legs.
What is more, various kinds of sensors installed on the robot feed back the signals of interest, such as the force signal, electromyography (EMG) signal, and heart rate.
For the implementation of the self-contained mobile robot, a small power supply circuit is designed and installed on the robot.
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ARToolKit described above were applied to the side surface of the robot, front and back of the object, and to the fronts of the handcarts and these were measured by the cameras installed on the robots and the camera installed to the side, to measure the relative positions and orientations of the cameras and markers.
The mate-in umbilical plate is mounted on a Cartesian manipulator, which is installed on the mobile robot base.
Installed on the goalkeeper robot, Kinect sensor is utilized to capture RGB-D images in the frame rate of 30 Hz, which are used to produce color segmentation results and point clouds for localization and motion prediction of the soccer.
The outrigger is installed on the back of the robot where it can be switched between housed and deployed states.
Each sensor was installed on the top of the robots.
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