Abstract: A torsional mode damping controller in which the controller modifies electrical power to an electrical motor to provide active damping control of torsional vibration in rotating masses. The controller receives a measurement of a rotational speed of the rotating masses ?m and an estimate or a measurement of a torque transmitted between the rotating masses Tsh; based on the received transmitted torque Tsh, generate a compensating torque to suppress vibration Tcom; based on the received rotational speed ?m and the compensating torque Tcom, generate an electromagnetic torque modification signal Tmodi; and modify the electrical power provided to the electrical motor on the basis of the electromagnetic torque modification signal Tmodi. The controller is further configured to generate compensating torque Tcom by applying a filter to the received transmitted torque Tsh, based on plural tunable parameters including a tuning gain K, a cut-off frequency ?n and a resonant damping ratio ?.

Abstract: A torsional mode damping controller in which the controller modifies electrical power to an electrical motor to provide active damping control of torsional vibration in rotating masses. The controller receives a measurement of a rotational speed of the rotating masses ?m and an estimate or a measurement of a torque transmitted between the rotating masses Tsh; based on the received transmitted torque Tsh, generate a compensating torque to suppress vibration Tcom; based on the received rotational speed ?m and the compensating torque Tcom, generate an electromagnetic torque modification signal Tmodi; and modify the electrical power provided to the electrical motor on the basis of the electromagnetic torque modification signal Tmodi. The controller is further configured to generate compensating torque Tcom by applying a filter to the received transmitted torque Tsh, based on plural tunable parameters including a tuning gain K, a cut-off frequency ?n and a resonant damping ratio ?.

Abstract: A support device for use in a walking machine including a frame-like base connected to a chassis, sheath tubes fixed on the frame-like base, extensible arms provided in the sheath tubes, support parts provided on outward ends of the extensible arms and extensible perpendicularly, wherein, the sheath tubes are arranged in double X-form, one pair of sheathe tubes arranged diagonally are parallel and at same height, another pair of the sheath tubes that are arranged diagonally and are also parallel and at a same height are at a different height from the pair of the sheath tubes.

Abstract: A support device for use in a walking machine including a frame-like base connected to a chassis, sheath tubes fixed on the frame-like base, extensible arms provided in the sheath tubes, support parts provided on outward ends of the extensible arms and extensible perpendicularly, wherein, the sheath tubes are arranged in double X-form, one pair of sheathe tubes arranged diagonally are parallel and at same height, another pair of the sheath tubes that are arranged diagonally and are also parallel and at a same height are at a different height from the pair of the sheath tubes.