Reconfigurable Double Inverted Pendulum Applied to the Modelling of Human Robot Motion

Zurawska, Magdalena; Szumowski, Maksymilian; Zielińska, Teresa

doi:10.14313/jamris_2-2017/12

Cited by 4 publications

(4 citation statements)

References 18 publications

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“…Compared to the results obtained using other approaches, it should be emphasized that the developed method of similarity analysis gives the result for each instant of time, and allows for easily identifying similarities in the movement of point masses of the body, which is not a common feature of other methods described in the literature. In our other works [ 32 ], we analysed the trajectories of point masses of a body using a correlation coefficient. The goal was to replicate the movement of the human body using a double inverted pendulum.…”

Section: Discussionmentioning

confidence: 99%

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The Measure of Motion Similarity for Robotics Application

Zielińska

Coba²

2023

Sensors

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A new measure of motion similarity has been proposed. The formulation of this measure is presented and its logical basis is described. Unlike in most of other methods, the measure enables easy determination of the instantaneous synergies of the motion of body parts. To demonstrate how to use the measure, the data describing human movement is used. The movement is recorded using a professional motion capture system. Two different cases of non-periodic movements are discussed: stepping forward and backward, and returning to a stable posture after an unexpected thrust to the side (hands free or tied). This choice enables the identification of synergies in slow dynamics (stepping) and in fast dynamics (push recovery). The trajectories of motion similarity measures are obtained for point masses of the human body. The interpretation of these trajectories in relation to motion events is discussed. In addition, ordinary motion trajectories and footprints are shown in order to better illustrate the specificity of the discussed examples. The article ends with a discussion and conclusions.

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Section: Discussionmentioning

confidence: 99%

“…The correlation coefficient ( 3 ) is a measure of the linear relationship between two variables. This measure was used in our previous work [ 32 ]. Unfortunately, it produces a single score for the compared datasets.…”

Section: Formulation Of the Motion Similarity Measurementioning

confidence: 99%

The Measure of Motion Similarity for Robotics Application

Zielińska

Coba²

2023

Sensors

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“…Zurawska et al 46 used a DIP with moving masses to study the motion coordination of upper and lower parts of the human body. The human motion capture data for four different movements were analyzed, and a strong coincidence with DIP mass displacement was noticed.…”

Section: Existing Approachesmentioning

confidence: 99%

Variable Inverted Pendulum Applied to Humanoid Motion Design

Zielińska

Coba²,

2021

Robotica

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SUMMARY Double inverted pendulum model, stationary or on a cart, is computationally the simplest out of the range of reasonable models used for anthropomorphic robots motion synthesis. However, it is still not sufficient for describing more complex situations. The novel concept of variable double inverted pendulum (VDIP) for static postures and VDIP on cart (VDIPC) for dynamic cases is proposed. It provides a simplified but a sufficiently accurate tool for planning the human-like static and dynamic robot postures. Its variable parameters enable the description of both human static postures and motion dynamics. The variable length of the lower link is essential for the representation of postures attained by bending legs. The studies of a set of static and dynamic postures were used for deducing and verifying the locations of lower and upper joint of a double pendulum and the point masses. To justify the concept, human body and pendulum behaviors are compared taking into account a typical model of the human body. Static analysis was conducted by considering static human postures. Dynamic conditions were analyzed using the data acquired from human motion and thus the VDIPC definition was established. The zero moment point trajectories of the human and of VDIPC were compared, validating the correctness of VDIPC in dynamic situations. The formal description of VDIPC is provided together with the torques equilibrium condition needed for evaluating the dynamic postural stability, with the VDPIC representing the robot configuration. The VDPIC state equations are formulated in a form required by the predictive control method. The paper contributes to the motion synthesis methods of anthropomorphic robots taking into account postural control.

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“…Baru-baru ini, kerangka kerja optimasi telah disajikan yang menghasilkan gerakan robot untuk urutan berjalan sambil mengambil dinamika serta kendala kinematik dengan pendekatan pendulum terbalik untuk stabilisasi [8]. Pendekatan-pendekatan ini adalah metode murni murni atau masih membutuhkan waktu perhitungan yang lama pada awalnya untuk gerakan dasar dengan menggabungkan bagian atas tubuh atau bawah tubuh [9]. Dalam penelitian ini, pendekatan cubic polynomial digunakan untuk merancang gerakan, dan fokus pada gaya vertikal dan horizontal untuk menghasilkan pola yang optimal [10].…”

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Realisasi Dan Desain Dinamika Berjalan Naik Diatas Tangga Pada 33 Dof Humanoid Robot

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Dewanto²,

Pramadihanto³

2020

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This paper presents a balance control for humanoid robot for walking on the stair. Kinematics, dynamics, and control system are the complex problems for humanoid robot especially in walking through the stair. The goal of this paper is to implement the control methods for the robot to be able to walk through the stair. The complexities are influenced by the number of joint movements of 33 degree of freedom (DoF) resulting flexible movements. This movement patterns in walking on the stair considers the height and the width of the stair by using the feedback sensors and the proportional-integral (PI) controller. Walking transition from single phase to double phase is needed to conduct the smooth transition. To solve that problem, an integrated motion and controller are divided to two conditions: working motion in the offline planning and working motion in the online implementation. Vertical movement and the step-length movement are needed due to the additional movements are required for walking on the stair. That is why, PI controller is used to achieve the balance condition. Each controller is used in detail with the results of experiments and simultions. The kinematics approach for simulation has 100% successful rate and the real-time experiments have 93% of error. The effectivity and results of the proposed algorithm for humanoid robot are verified by the experiments to walk on the stair.Keywords: dynamic, kinematic, balance control, humanoid robotMakalah ini menyajikan kontrol keseimbangan untuk robot humanoid dalam berjalan di atas tangga. Kinematika, dinamika, dan sistem kendali merupakan masalah kompleks pada robot humanoid khususnya untuk berjalan melewati tangga. Tujuan akhir makalah ini adalah penerapan metode kontrol pada robot humanoid agar robot dapat berjalan di atas tangga. Kompleksitas pada robot dipengaruhi oleh banyaknya penggerak sebesar 33 derajat kebebasan (DoF) sehingga menghasilkan gerakan yang fleksibel. Pola gerakan ketika berjalan diatas tangga ini mempertimbangkan tinggi tangga dan lebar tangga dengan adanya umpan balik pada sensor dan system kendali keseimbangan menggunakan proporsional-integral (PI) kontroler. Transisi berjalan dari fase dukungan tunggal ke fase dukungan ganda diperlukan untuk kelancaran siklus transisi. Untuk menyelesaikan masalah tersebut, sebuah gerakan terintegrasi dan pengontrol dibagi menjadi dua kondisi: gerakan bekerja pada perencanaan offline dan pengontrol bekerja yang berjalan online. Hal ini dikarenakan kebutuhan tambahan gerakan vertikal pada tinggi tangga dan panjang langkah ketika menaiki tangga. Oleh karena itu, kontroler PI digunakan untuk mencapai kondisi keseimbangan. Setiap pengendali ditangani secara detail dengan hasil eksperimen dan simulasi. Pendekatan Kinematika untuk simulasi memiliki hasil yang baik berdasarkan percobaan simulasi 100% dan percobaan secara langsung dengan robot memiliki error 93%. Efektivitas dan kinerja dari algoritma kontrol yang diusulkan diverifikasi melalui percobaan naik tangga pada humanoid robot.Kata kunci: dinamika, kinematika, kendali keseimbangan, robot humanoid

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Reconfigurable Double Inverted Pendulum Applied to the Modelling of Human Robot Motion

Abstract: Abstract:A simplified model of a human body is proposed. Model is built according to anthropomorphic data. Basic movements (gait and run)

Cited by 4 publications

References 18 publications

The Measure of Motion Similarity for Robotics Application

The Measure of Motion Similarity for Robotics Application

Variable Inverted Pendulum Applied to Humanoid Motion Design

Realisasi Dan Desain Dinamika Berjalan Naik Diatas Tangga Pada 33 Dof Humanoid Robot

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