{"id":26398,"date":"2024-02-25T14:24:29","date_gmt":"2024-02-25T15:24:29","guid":{"rendered":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d8%b3%d8%ae%d8%aa%db%8c-%d8%ba%db%8c%d8%b1%d8%ae%d8%b7%db%8c-%d8%a7%d9%85%da%a9%d8%a7%d9%86-%d9%be%d8%b1%d8%b4-%d9%be%d9%88%db%8c%d8%a7-%d8%ba%db%8c%d8%b1%d9%81%d8%b9\/"},"modified":"2024-02-25T14:24:30","modified_gmt":"2024-02-25T15:24:30","slug":"%d9%85%d9%82%d8%a7%d9%84%d9%87-%d8%b3%d8%ae%d8%aa%db%8c-%d8%ba%db%8c%d8%b1%d8%ae%d8%b7%db%8c-%d8%a7%d9%85%da%a9%d8%a7%d9%86-%d9%be%d8%b1%d8%b4-%d9%be%d9%88%db%8c%d8%a7-%d8%ba%db%8c%d8%b1%d9%81%d8%b9","status":"publish","type":"product","link":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d8%b3%d8%ae%d8%aa%db%8c-%d8%ba%db%8c%d8%b1%d8%ae%d8%b7%db%8c-%d8%a7%d9%85%da%a9%d8%a7%d9%86-%d9%be%d8%b1%d8%b4-%d9%be%d9%88%db%8c%d8%a7-%d8%ba%db%8c%d8%b1%d9%81%d8%b9\/","title":{"rendered":"\u0645\u0642\u0627\u0644\u0647 \u0633\u062e\u062a\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0627\u0645\u06a9\u0627\u0646 \u067e\u0631\u0634 \u067e\u0648\u06cc\u0627 \u063a\u06cc\u0631\u0641\u0639\u0627\u0644 \u0631\u0627 \u0628\u0631\u0627\u06cc \u0631\u0628\u0627\u062a \u0647\u0627\u06cc \u06cc\u06a9 \u067e\u0627 \u0628\u0627 \u062a\u0646\u0647 \u0639\u0645\u0648\u062f\u06cc \u0641\u0631\u0627\u0647\u0645 \u0645\u06cc \u06a9\u0646\u062f."},"content":{"rendered":"<table class=\"table table-striped table-hover\">\n<tbody>\n<tr>\n<td>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc <\/td>\n<td>Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk<\/td>\n<\/tr>\n<tr>\n<td>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc <\/td>\n<td>\u0645\u0642\u0627\u0644\u0647 \u0633\u0641\u062a\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0627\u062c\u0627\u0632\u0647 \u0645\u06cc \u062f\u0647\u062f \u062a\u0627 \u067e\u0648\u06cc\u0627 \u0645\u0646\u0641\u0639\u0644 \u0628\u0631\u0627\u06cc \u0631\u0648\u0628\u0627\u062a \u0647\u0627\u06cc \u06cc\u06a9 \u067e\u0627 \u0628\u0627 \u06cc\u06a9 \u062a\u0646\u0647 \u0642\u0627\u0626\u0645<\/td>\n<\/tr>\n<tr>\n<td>\u0646\u0648\u06cc\u0633\u0646\u062f\u06af\u0627\u0646 <\/td>\n<td>Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin<\/td>\n<\/tr>\n<tr>\n<td>\u0632\u0628\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 <\/td>\n<td>\u0627\u0646\u06af\u0644\u06cc\u0633\u06cc<\/td>\n<\/tr>\n<tr>\n<td>\u0641\u0631\u0645\u062a \u0645\u0642\u0627\u0644\u0647: <\/td>\n<td>PDF<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0639\u062f\u0627\u062f \u0635\u0641\u062d\u0627\u062a<\/td>\n<td>7<\/td>\n<\/tr>\n<tr>\n<td>\u062f\u0633\u062a\u0647 \u0628\u0646\u062f\u06cc \u0645\u0648\u0636\u0648\u0639\u0627\u062a  <\/td>\n<td>Robotics,Systems and Control,\u0631\u0648\u0628\u0627\u062a\u06cc\u06a9 , \u0633\u06cc\u0633\u062a\u0645 \u0648 \u06a9\u0646\u062a\u0631\u0644 ,<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0648\u0636\u06cc\u062d\u0627\u062a    <\/td>\n<td>Submitted 16 January, 2024; originally announced January 2024. , Comments: 7 pages, 6 figures , Journal ref: 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 31 &#8211; June 4, 2021, Xi&#8217;an, China, pp. 3047 &#8211; 3053<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0648\u0636\u06cc\u062d\u0627\u062a \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc    <\/td>\n<td>16 \u0698\u0627\u0646\u0648\u06cc\u0647 2024 \u0627\u0631\u0633\u0627\u0644 \u0634\u062f.\u062f\u0631 \u0627\u0628\u062a\u062f\u0627 \u0698\u0627\u0646\u0648\u06cc\u0647 2024 \u0627\u0639\u0644\u0627\u0645 \u0634\u062f \u060c \u0646\u0638\u0631\u0627\u062a: 7 \u0635\u0641\u062d\u0647 \u060c 6 \u0631\u0642\u0645 \u060c \u0645\u062c\u0644\u0647 Ref: 2021 \u06a9\u0646\u0641\u0631\u0627\u0646\u0633 \u0628\u06cc\u0646 \u0627\u0644\u0645\u0644\u0644\u06cc IEEE \u062f\u0631 \u0645\u0648\u0631\u062f \u0631\u0648\u0628\u0627\u062a\u06cc\u06a9 \u0648 \u0627\u062a\u0648\u0645\u0627\u0633\u06cc\u0648\u0646 (ICRA 2021) \u060c 31 \u0645\u0647 &#8211; 4 \u0698\u0648\u0626\u0646 \u060c 2021 \u060c \u0634\u06cc\u0627\u0646 \u060c \u0686\u06cc\u0646 \u060c \u0635\u0635 3047 &#8211; 3053<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>\u0686\u06a9\u06cc\u062f\u0647<\/h2>\n<p style=\"direction:ltr;\">Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-efficient control. A grand challenge in locomotion is trunk stabilization when the hip is offset from the center of mass (CoM). The swing phase plays a major role in this process due to the moment of inertia of the leg; however, many template models ignore the leg mass. In this work, the authors consider a robot hopper model (RHM) with a rigid trunk and leg plus a hip that is displaced from the CoM. It has been previously shown that no passive limit cycle exists for such a model given a linear hip spring. In this work, we show that passive limit cycles can be found when a nonlinear hip spring is used instead. To the authors&#8217; knowledge, this is the first time that a passive limit cycle has been found for this type of system.<\/p>\n<h2>\u0686\u06a9\u06cc\u062f\u0647 \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc (\u062a\u0631\u062c\u0645\u0647 \u0645\u0627\u0634\u06cc\u0646\u06cc)<\/h2>\n<p>\u0627\u0632 \u0645\u062f\u0644 \u0647\u0627\u06cc \u0627\u0644\u06af\u0648 \u063a\u0627\u0644\u0628\u0627\u064b \u0628\u0631\u0627\u06cc \u0633\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u067e\u0648\u06cc\u0627\u06cc\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0628\u0631\u0627\u06cc \u067e\u0631\u0634 \u06cc\u0627 \u062f\u0648\u06cc\u062f\u0646 \u0631\u0628\u0627\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f.\u0686\u0631\u062e\u0647 \u0647\u0627\u06cc \u062d\u062f \u0645\u0646\u0641\u0639\u0644 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0628\u0631\u0627\u06cc \u0686\u0646\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645\u0647\u0627\u06cc\u06cc \u067e\u062f\u06cc\u062f\u0627\u0631 \u0634\u0648\u062f \u0648 \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0627\u0631\u0622\u0645\u062f \u0627\u0646\u0631\u0698\u06cc \u0645\u0648\u0631\u062f \u0633\u0648\u0621 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0642\u0631\u0627\u0631 \u06af\u06cc\u0631\u062f.\u06cc\u06a9 \u0686\u0627\u0644\u0634 \u0628\u0632\u0631\u06af \u062f\u0631 \u062d\u0631\u06a9\u062a \u060c \u062a\u062b\u0628\u06cc\u062a \u062a\u0646\u0647 \u0647\u0646\u06af\u0627\u0645 \u062c\u0628\u0631\u0627\u0646 \u0644\u06af\u0646 \u0627\u0632 \u0645\u0631\u06a9\u0632 \u062c\u0631\u0645 (COM) \u0627\u0633\u062a.\u0645\u0631\u062d\u0644\u0647 \u0646\u0648\u0633\u0627\u0646 \u0628\u0647 \u062f\u0644\u06cc\u0644 \u0644\u062d\u0638\u0647 \u0639\u062f\u0645 \u062a\u062d\u0631\u06a9 \u067e\u0627 \u0646\u0642\u0634 \u0645\u0647\u0645\u06cc \u062f\u0631 \u0627\u06cc\u0646 \u0641\u0631\u0627\u06cc\u0646\u062f \u062f\u0627\u0631\u062f.\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644 \u060c \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0632 \u0645\u062f\u0644 \u0647\u0627\u06cc \u0627\u0644\u06af\u0648 \u060c \u062a\u0648\u062f\u0647 \u067e\u0627 \u0631\u0627 \u0646\u0627\u062f\u06cc\u062f\u0647 \u0645\u06cc \u06af\u06cc\u0631\u0646\u062f.\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u060c \u0646\u0648\u06cc\u0633\u0646\u062f\u06af\u0627\u0646 \u06cc\u06a9 \u0645\u062f\u0644 Robot Hopper (RHM) \u0631\u0627 \u0628\u0627 \u06cc\u06a9 \u062a\u0646\u0647 \u0633\u0641\u062a \u0648 \u0633\u062e\u062a \u0648 \u067e\u0627 \u0628\u0647 \u0647\u0645\u0631\u0627\u0647 \u0644\u06af\u0646 \u062f\u0631 \u0646\u0638\u0631 \u0645\u06cc \u06af\u06cc\u0631\u0646\u062f \u06a9\u0647 \u0627\u0632 COM \u0622\u0648\u0627\u0631\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a.\u0642\u0628\u0644\u0627\u064b \u0646\u0634\u0627\u0646 \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a \u06a9\u0647 \u0647\u06cc\u0686 \u0686\u0631\u062e\u0647 \u062d\u062f \u0645\u0646\u0641\u0639\u0644 \u0628\u0631\u0627\u06cc \u0686\u0646\u06cc\u0646 \u0645\u062f\u0644\u06cc \u0628\u0627 \u062a\u0648\u062c\u0647 \u0628\u0647 \u0686\u0634\u0645\u0647 \u062e\u0637\u06cc \u062e\u0637\u06cc \u0648\u062c\u0648\u062f \u0646\u062f\u0627\u0631\u062f.\u062f\u0631 \u0627\u06cc\u0646 \u06a9\u0627\u0631 \u060c \u0645\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u06cc\u0645 \u06a9\u0647 \u0686\u0631\u062e\u0647 \u0647\u0627\u06cc \u062d\u062f \u0645\u0646\u0641\u0639\u0644 \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0647\u0646\u06af\u0627\u0645 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0686\u0634\u0645\u0647 \u0644\u06af\u0646 \u063a\u06cc\u0631\u062e\u0637\u06cc \u0628\u0647 \u062c\u0627\u06cc \u0622\u0646 \u060c \u067e\u06cc\u062f\u0627 \u0634\u0648\u062f.\u0628\u0631\u0627\u06cc \u062f\u0627\u0646\u0634 \u0646\u0648\u06cc\u0633\u0646\u062f\u06af\u0627\u0646 \u060c \u0627\u06cc\u0646 \u0627\u0648\u0644\u06cc\u0646 \u0628\u0627\u0631 \u0627\u0633\u062a \u06a9\u0647 \u06cc\u06a9 \u0686\u0631\u062e\u0647 \u062d\u062f \u0645\u0646\u0641\u0639\u0644 \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u0646\u0648\u0639 \u0633\u06cc\u0633\u062a\u0645 \u067e\u06cc\u062f\u0627 \u0645\u06cc \u0634\u0648\u062f.<\/p>\n<div style=\"\r\n  background-color: #FFFBEA;\r\n  border: 1px solid #FCD34D;\r\n  border-left: 6px solid #FBBF24;\r\n  padding: 20px;\r\n  border-radius: 10px;\r\n  margin-top: 30px;\r\n  font-family: 'Vazirmatn', sans-serif;\r\n  color: #78350F;\r\n  line-height: 1.9;\r\n  box-shadow: 0 4px 12px rgba(0,0,0,0.04);\r\n\">\r\n\r\n\r\n<hr style=\"border:none;border-top:1px dashed #FCD34D;margin:18px 0;\">\r\n\r\n<h2 style=\"margin-top:0;\">\ud83d\udcda \u0645\u062d\u062a\u0648\u0627\u06cc \u0627\u06cc\u0646 \u0645\u062d\u0635\u0648\u0644 \u0622\u0645\u0648\u0632\u0634\u06cc (\u067e\u06a9\u06cc\u062c \u06a9\u0627\u0645\u0644)<\/h2>\r\n\r\n<p style=\"margin-top:0;\">\r\n\u0639\u0644\u0627\u0648\u0647 \u0628\u0631 \u0645\u0642\u0627\u0644\u0647 \u0627\u0635\u0644\u06cc \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc \u06a9\u0647 \u062f\u0631\u06cc\u0627\u0641\u062a \u0645\u06cc \u06a9\u0646\u06cc\u062f\u060c \u0628\u0631\u0627\u06cc <strong>\u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0639\u0645\u06cc\u0642\u200c\u062a\u0631 \u0648 \u062a\u0633\u0644\u0637 \u06a9\u0627\u0645\u0644 \u0628\u0631 \u0645\u0628\u0627\u062d\u062b<\/strong> \u0645\u062c\u0645\u0648\u0639\u0647\u200c\u0627\u06cc \u0627\u0632 \u06a9\u062a\u0627\u0628\u200c\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc \u0646\u06cc\u0632 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.\r\n<\/p>\r\n\r\n<ul style=\"list-style-type:'\u2705 '; padding-left:20px; font-size:16px; line-height:1.9;\">\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u0635\u062f\u0647\u0627 \u0646\u06a9\u062a\u0647 \u0641\u0627\u0631\u0633\u06cc (\u062e\u0648\u062f\u0645\u0648\u0646\u06cc) \u2013 \u0646\u0633\u062e\u0647 PDF<\/strong> \u2014 \u0632\u0628\u0627\u0646 \u0633\u0627\u062f\u0647 \u0648 \u06a9\u0627\u0631\u0628\u0631\u062f\u06cc\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/nokte_7046_Docker%20%D9%85%D9%81%D8%A7%D9%87%DB%8C%D9%85%20%D9%88%20%D8%AA%DA%A9%D9%86%DB%8C%DA%A9%E2%80%8C%D9%87%D8%A7%DB%8C%20%D9%BE%DB%8C%D8%B4%D8%B1%D9%81%D8%AA%D9%87%20%D8%AF%D8%B1%20Docker%20Compose.pdf_extract.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u0646\u06a9\u0627\u062a \u0633\u0627\u062f\u0647\r\n<\/a>\r\n<\/li>\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u0635\u062f\u0647\u0627 \u0646\u06a9\u062a\u0647 \u0631\u0633\u0645\u06cc \u0641\u0627\u0631\u0633\u06cc \u2013 \u0646\u0633\u062e\u0647 PDF<\/strong> \u2014 \u0646\u06af\u0627\u0631\u0634 \u0627\u0633\u062a\u0627\u0646\u062f\u0627\u0631\u062f \u0648 \u0639\u0644\u0645\u06cc\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/nokte_formal_7046_Docker%20%D9%85%D9%81%D8%A7%D9%87%DB%8C%D9%85%20%D9%88%20%D8%AA%DA%A9%D9%86%DB%8C%DA%A9%E2%80%8C%D9%87%D8%A7%DB%8C%20%D9%BE%DB%8C%D8%B4%D8%B1%D9%81%D8%AA%D9%87%20%D8%AF%D8%B1%20Docker%20Compose.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u0646\u06a9\u0627\u062a \u0631\u0633\u0645\u06cc\r\n<\/a>\r\n<\/li>\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u0635\u062f\u0647\u0627 \u067e\u0631\u0633\u0634 \u0648 \u067e\u0627\u0633\u062e \u062a\u0634\u0631\u06cc\u062d\u06cc \u2013 \u0646\u0633\u062e\u0647 PDF<\/strong><br>\r\n\u2014 \u0647\u0631 \u0633\u0624\u0627\u0644 \u0647\u0645\u0631\u0627\u0647 \u0628\u0627 \u067e\u0627\u0633\u062e \u06a9\u0627\u0645\u0644 \u0628\u0631\u0627\u06cc \u062f\u0631\u06a9 \u0639\u0645\u06cc\u0642 \u0645\u0641\u0627\u0647\u06cc\u0645\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/qa_26193_%D8%AF%D9%88%D8%B1%D9%87%20%D8%AC%D8%A7%D9%85%D8%B9%20%D8%A7%D8%B5%D9%88%D9%84%20%D8%A8%DB%8C%D9%85%D9%87%20%D8%A7%D8%B2%20%D9%85%D8%A8%D8%A7%D9%86%DB%8C%20%D8%AA%D8%A7%20%D8%A7%D8%B3%D8%AA%D8%B1%D8%A7%D8%AA%DA%98%DB%8C%E2%80%8C%D9%87%D8%A7%DB%8C%20%DA%A9%D8%A7%D8%B1%D8%A8%D8%B1%D8%AF%DB%8C.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u067e\u0631\u0633\u0634 \u0648 \u067e\u0627\u0633\u062e\r\n<\/a>\r\n<\/li>\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u067e\u0631\u0633\u0634 \u0648 \u067e\u0627\u0633\u062e \u0686\u0647\u0627\u0631\u06af\u0632\u06cc\u0646\u0647\u200c\u0627\u06cc \u2013 \u0646\u0633\u062e\u0647 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0633\u0631\u06cc\u0639<\/strong><br>\r\n\u2014 \u067e\u0627\u0633\u062e\u200c\u0647\u0627 \u0628\u0644\u0627\u0641\u0627\u0635\u0644\u0647 \u0628\u0639\u062f \u0627\u0632 \u0633\u0624\u0627\u0644 \u0628\u0631\u0627\u06cc \u0645\u0631\u0648\u0631 \u0633\u0631\u06cc\u0639\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/quiz_type1_7046_Docker%20%D9%85%D9%81%D8%A7%D9%87%DB%8C%D9%85%20%D9%88%20%D8%AA%DA%A9%D9%86%DB%8C%DA%A9%E2%80%8C%D9%87%D8%A7%DB%8C%20%D9%BE%DB%8C%D8%B4%D8%B1%D9%81%D8%AA%D9%87%20%D8%AF%D8%B1%20Docker%20Compose.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u06a9\u0648\u06cc\u06cc\u0632 \u0633\u0631\u06cc\u0639\r\n<\/a>\r\n<\/li>\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u067e\u0631\u0633\u0634 \u0648 \u067e\u0627\u0633\u062e \u0686\u0647\u0627\u0631\u06af\u0632\u06cc\u0646\u0647\u200c\u0627\u06cc \u2013 \u0646\u0633\u062e\u0647 \u062e\u0648\u062f\u0622\u0632\u0645\u0627\u06cc\u06cc<\/strong><br>\r\n\u2014 \u067e\u0627\u0633\u062e\u200c\u0647\u0627 \u062f\u0631 \u0627\u0646\u062a\u0647\u0627\u06cc \u0628\u062e\u0634\u200c\u0647\u0627 \u0628\u0631\u0627\u06cc \u0633\u0646\u062c\u0634 \u0648\u0627\u0642\u0639\u06cc \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/quiz_type2_7046_Docker%20%D9%85%D9%81%D8%A7%D9%87%DB%8C%D9%85%20%D9%88%20%D8%AA%DA%A9%D9%86%DB%8C%DA%A9%E2%80%8C%D9%87%D8%A7%DB%8C%20%D9%BE%DB%8C%D8%B4%D8%B1%D9%81%D8%AA%D9%87%20%D8%AF%D8%B1%20Docker%20Compose.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u0622\u0632\u0645\u0648\u0646\u06cc\r\n<\/a>\r\n<\/li>\r\n\r\n\r\n<\/ul>\r\n\r\n<p style=\"margin-top:15px;font-weight:bold;\">\r\n\ud83c\udfaf \u0627\u06cc\u0646 \u0628\u0633\u062a\u0647 \u06cc\u06a9 \u062f\u0648\u0631\u0647\u0654 \u0622\u0645\u0648\u0632\u0634\u06cc \u06a9\u0627\u0645\u0644 \u0648 \u0686\u0646\u062f\u0644\u0627\u06cc\u0647 \u0627\u0633\u062a\u061b \u0634\u0627\u0645\u0644 \u0648\u06cc\u062f\u06cc\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc\u060c \u06a9\u062a\u0627\u0628\u200c\u0647\u0627\u060c \u062a\u0645\u0631\u06cc\u0646\u200c\u0647\u0627 \u0648 \u062e\u0648\u062f\u0622\u0632\u0645\u0627\u06cc\u06cc.\r\n<\/p>\r\n\r\n\r\n<\/div>\r\n\r\n\r\n<div style=\"border: 2px dashed #4CAF50; border-radius: 16px; padding: 20px; background: #f9fff9; font-family: 'IRANSans', sans-serif;\">\r\n\r\n\t\r\n\t\r\n\t    <h3 style=\"color: #2E7D32;\">\u2139\ufe0f \u0646\u06a9\u0627\u062a \u0645\u0647\u0645 \u0647\u0646\u06af\u0627\u0645 \u062e\u0631\u06cc\u062f<\/h3>\r\n    <ul style=\"list-style-type: '\ud83d\udd38 '; padding-left: 20px; font-size: 15px; line-height: 1.9;\">\r\n        <li>\u0627\u06cc\u0646 \u0645\u062d\u0635\u0648\u0644 \u0628\u0647 \u0635\u0648\u0631\u062a <strong>\u0641\u0627\u06cc\u0644 \u062f\u0627\u0646\u0644\u0648\u062f\u06cc \u06a9\u0627\u0645\u0644<\/strong> \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/li>\r\n        <li><strong>\u062a\u0648\u062c\u0647:<\/strong> \u0644\u06cc\u0646\u06a9\u200c\u0647\u0627\u06cc \u0627\u062e\u062a\u0635\u0627\u0635\u06cc \u062f\u0648\u0631\u0647 \u0637\u06cc \u062d\u062f\u0627\u06a9\u062b\u0631 <strong>24 \u0633\u0627\u0639\u062a<\/strong> \u067e\u0633 \u0627\u0632 \u062b\u0628\u062a \u0633\u0641\u0627\u0631\u0634 \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f.<\/li>\r\n        <li>\u062f\u0642\u062a \u06a9\u0646\u06cc\u062f \u0644\u06cc\u0646\u06a9 \u0647\u0627 \u0628\u0647  \u0634\u0645\u0627\u0631\u0647 \u0645\u0648\u0628\u0627\u06cc\u0644 \u0634\u0645\u0627 \u0627\u0631\u0633\u0627\u0644 \u0645\u06cc \u0634\u0648\u0646\u062f. \u067e\u0633 \u062f\u0631 \u0627\u0631\u0627\u0626\u0647 \u0634\u0645\u0627\u0631\u0647 \u0645\u0648\u0628\u0627\u06cc\u0644 \u0635\u062d\u06cc\u062d \u062f\u0642\u062a \u06a9\u0646\u06cc\u062f.<\/li>\r\n        <li>\u0628\u0631\u0627\u06cc \u0631\u0627\u0647\u0646\u0645\u0627\u06cc\u06cc \u062f\u0631 \u0645\u0648\u0631\u062f \u0646\u062d\u0648\u0647 \u062f\u0627\u0646\u0644\u0648\u062f \u0628\u0647 \u0634\u0645\u0627\u0631\u0647 <strong>09395106248<\/strong> \u067e\u06cc\u0627\u0645\u06a9 \u062f\u0647\u06cc\u062f \u06cc\u0627 \u062a\u0645\u0627\u0633 \u0628\u06af\u06cc\u0631\u06cc\u062f. (\u0627\u06cc\u062f\u0647 \u0622\u0644 \u062a\u0631\u06cc\u0646 \u06af\u0632\u06cc\u0646\u0647 \u0627\u0631\u0633\u0627\u0644 \u067e\u06cc\u0627\u0645 \u062f\u0631 \u06cc\u06a9\u06cc \u0627\u0632 \u067e\u06cc\u0627\u0645 \u0631\u0633\u0627\u0646 \u0647\u0627 \u0628\u0647 \u0647\u0645\u06cc\u0646 \u0634\u0645\u0627\u0631\u0647 \u0627\u0633\u062a \u062a\u0627 \u0633\u0631\u06cc\u0639\u0627 \u0644\u06cc\u0646\u06a9 \u0647\u0627\u06cc \u0645\u062d\u0635\u0648\u0644 \u0647\u0645\u0627\u0646 \u062c\u0627 \u0628\u0631\u0627\u06cc \u0634\u0645\u0627 \u0627\u0631\u0633\u0627\u0644 \u06af\u0631\u062f\u062f.)<\/li>\r\n        <li>\u0627\u06af\u0631 \u067e\u0631\u062f\u0627\u062e\u062a \u0627\u0646\u062c\u0627\u0645 \u0634\u062f\u0647 \u0648\u0644\u06cc \u0628\u0639\u062f \u0627\u0632 24 \u0633\u0627\u0639\u062a \u0647\u0646\u0648\u0632 \u0644\u06cc\u0646\u06a9\u200c\u0647\u0627 \u0631\u0627 \u062f\u0631\u06cc\u0627\u0641\u062a \u0646\u06a9\u0631\u062f\u0647\u200c\u0627\u06cc\u062f\u060c \u0646\u0627\u0645 \u0648 \u0646\u0627\u0645 \u062e\u0627\u0646\u0648\u0627\u062f\u06af\u06cc \u0648 \u0646\u0627\u0645 \u0645\u062d\u0635\u0648\u0644 \u0631\u0627 \u067e\u06cc\u0627\u0645\u06a9 \u06a9\u0646\u06cc\u062f \u062a\u0627\r\n            \u0644\u06cc\u0646\u06a9\u200c\u0647\u0627 \u062f\u0648\u0628\u0627\u0631\u0647 \u0627\u0631\u0633\u0627\u0644 \u0634\u0648\u0646\u062f.<\/li>\r\n    <\/ul>\r\n    <p style=\"font-size: 16px; line-height: 1.8; margin-top: 15px;\"> \ud83d\udcac \u0631\u0627\u0647\u200c\u0647\u0627\u06cc \u0627\u0631\u062a\u0628\u0627\u0637\u06cc \u067e\u0634\u062a\u06cc\u0628\u0627\u0646\u06cc:<br> \u0648\u0627\u062a\u0633\u200c\u0627\u067e \u06cc\u0627 \u0647\u0631 \u067e\u06cc\u0627\u0645 \u0631\u0633\u0627\u0646 \u062f\u0627\u062e\u0644\u06cc \u06cc\u0627 \u067e\u06cc\u0627\u0645\u06a9:\r\n        <strong>09395106248<\/strong><br> \u062a\u0644\u06af\u0631\u0627\u0645: <strong>@ma_limbs<\/strong> <\/p>\r\n\t\r\n\t\r\n<\/div>\r\n\r\n\r\n\n","protected":false},"excerpt":{"rendered":"<p>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk \u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 [&hellip;]<\/p>\n","protected":false},"featured_media":27,"comment_status":"open","ping_status":"closed","template":"","meta":{"pmpro_default_level":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}}},"product_brand":[],"product_cat":[15,21],"product_tag":[177,22,252,253],"class_list":["post-26398","product","type-product","status-publish","has-post-thumbnail","product_cat-15","product_cat-21","product_tag-robotics","product_tag-systems-and-control","product_tag-252","product_tag-253","pmpro-has-access","desktop-align-left","tablet-align-left","mobile-align-left","first","instock","downloadable","shipping-taxable","purchasable","product-type-simple"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v22.0 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u0645\u0642\u0627\u0644\u0647 \u0633\u062e\u062a\u06cc \u063a\u06cc\u0631\u062e\u0637\u06cc \u0627\u0645\u06a9\u0627\u0646 \u067e\u0631\u0634 \u067e\u0648\u06cc\u0627 \u063a\u06cc\u0631\u0641\u0639\u0627\u0644 \u0631\u0627 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