A new design method to obtain walking parameters for a three-dimensional (3D) biped walking along a slope is proposed in this paper. Most research is focused on the walking directions when climbing up or down a slope only. This paper investigates a strategy to realize biped walking along a slope. In conventional methods, the centre of mass (CoM) is moved up or down during walking in this situation. This is because the height of the pendulum is kept at the same length on the left and right legs. Thus, extra effort is required in order to bring the CoM up to higher ground. In the proposed method, a different height of pendulum is applied on the left and right legs, which is called a dual length linear inverted pendulum method (DLLIPM). When a different height of pendulum is applied, it is quite difficult to obtain symmetrical and smooth pendulum motions. Furthermore, synchronization between sagittal and lateral planes is not confirmed. Therefore, DLLIPM with a Newton Raphson algorithm is proposed to solve these problems. The walking pattern for both planes is designed systematically and synchronization between them is ensured. As a result, the maximum force fluctuation is reduced with the proposed method.
This paper proposes a strategy for bipedal robot walking on inclined surfaces using position and orientation based inverse kinematics algorithm. Some researchers implemented control approaches to solve bipedal walking on inclined surfaces. Generally, most of them apply control feedback at ankle joints and also introduced many more control methodologies. In this paper, inverse kinematics methodology is introduced systematically for bipedal walking on inclined floor. Positions and orientations are embedded into the kinematics calculation. In this strategy, a working bipedal robot walking pattern for flat floor must be developed first. Then, the same walking pattern can be used for the inclined floor with orientation included so that the bipedal robot is able to walk on the inclined floor successfully. This methodology will distribute the angles caused by the inclined surfaces to the appropriate robot joints. By doing this, control at ankle joints only is avoided. A 3-D dynamics simulator which is known as Robot Control Simulator and developed in our laboratory is used for simulation in order to validate our proposed method.
A bipedal robot should be robust and able to move in various directions on stairs. However, up to date many research studies have been focusing on walking in the up or down direction only. Therefore, a strategy to realize walking along a step is investigated. In conventional methods, CoM is moved up or down during walking in this situation. In this paper, a method named as Dual Length Linear Inverted Pendulum Method (DLLIPM) with Newton-Raphson is proposed for 3-D biped robot walking. The proposed method applies different length of pendulum at left and right legs in order to represent the CoM height. By using the proposed method, maximum impact forces are reduced. From the Ground Reaction Forces (GRF) data obtained in the simulations, the validity of the proposed method is confirmed.
This paper proposes a new design method for obtaining walking parameters for a 3-D biped robot walking along a step. Many researchers concentrated only on the motion of climbing up or down stairs. However, this study investigates a strategy for realizing walking along a step. In conventional methods, the center of mass (CoM) moves up or down during walking in this situation because the pendulum height is kept at the same length for the left and right legs. Thus, extra work is required in order to bring the CoM up to higher ground. In this study, different pendulum heights are applied for the left and right legs and this method is referred to as the dual length linear inverted pendulum method (DLLIPM). However, when different pendulum heights are applied, it is quite difficult to obtain symmetrical and smooth pendulum motions. Furthermore, synchronization between the sagittal and lateral planes is not confirmed. Therefore, DLLIPM with the Newton-Raphson algorithm is proposed to solve these problems. The walking pattern for both planes is designed systematically, and synchronization between the planes is ensured. Finally, the proposed method is verified by simulation and experimental results.
Recently, the number of patients with wrist and forearm amputations increased tremendously due to trauma, prolonged constriction, or surgery. The amputees experienced lots of problems, especially in dealings with their daily life activities. Thus, as a solution, a prototype called as RH2000 Cybernetics Hand is designed. Early design of bionic hand comprises of 14 motors with 14 degree of freedom which caused the bionic hand to be costly and complex to control. In this research, design of a bionic hand that has 10 degrees of freedom with 5 motors attached to mechanical linkages is proposed. The bionic hand designs in SolidWorks that resembled the function and size of an actual human hand. It is fabricated using aluminum 6061 as it is light in weight and durable. As for the sensor, V3 muscle sensor is utilized to identify a signal generated from the human muscle and amplified it as the primary control signal to control the movement of the bionic hand. The performance of bionic hand is tested in terms of repeatability and accuracy. Repeatability accuracy test is divided into two phases, the first test is constructed to analyze the repeatability of angular movement for each finger while the second test is constructed to analyze the repeatability of wrist movement. Similarly, the accuracy test is also divided into two phases where the first test is conducted to analyze the accuracy of finger press while the second test is to analyze the accuracy of hand grasp. The results are compared with the natural human force and yielded acceptable results. Finally, the hand is tested in term of canonical hand posture and manage to emulate actual human hand.
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In Humanoid robotics field, capability to perform any task that imitates human movement has been the major research focus. One of the critical movements is the Sit to Stand (STS) motion. STS motion can be predicted using three-link (3L) robot inverse kinematic and dynamic model. 3L multi segments is quite complicated and requires high computational resources to calculate. Telescopic Inverted Pendulum ( TIP ) is another model that much simpler for planning and analyzing humanoid robot since it represent whole body with one single link. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is to find the relationship between TIP and 3L model when the mass is varied. To do so, simulation setup for 3L and TIP model is developed using MAT LAB. The torque values at each joint are observed to obtain the relationship between mass and the torque. The results show that both TIP and 3L model give a similarity result where mass and torque change in linear. For every drop of mass, the torque is also decrease.
This paper presents the development of Spatial Habituating Self Organizing Map (SHSOM) network. This project is inspired by the challenges in underwater wall/pipe or cable inspection application using inspection robot. When exposed to the underwater natural elements, robot’s sensor readings are varied over space and time. Hence, the AUV need to be able to continuously adapt to its environment while performing inspection. For this reason, a new inspection system based on spatial Habituating Self Organizing Map (SHSOM) network is proposed. SHSOM allows the robot to continuously learn and adapt to new changes in its environment by using habituation principle which considers spatial information. WEBOT simulator is used to simulate an inspection scenario involving a mobile robot a changing environment. Simulation results show that the robot successfully learn and detect novel events during inspection.
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