An Approach to Identify Joint Motions for Dynamically Stable Walking

2005 ◽  
Vol 128 (3) ◽  
pp. 649-653 ◽  
Author(s):  
Abhishek Agrawal ◽  
Sunil K. Agrawal
Keyword(s):  
Dynamic Stability ◽  
Biped Robot ◽  
Degree Of Freedom ◽  
Stability Criteria ◽  
Biped Robots ◽  
Wheeled Robots ◽  
Novel Approach ◽  
Six Degree Of Freedom ◽  
Joint Motions

Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, a novel approach to compute dynamically stable walking motions of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on the need for periodicity of the motion. The resulting gait satisfies the dynamic stability criteria. Sets of joint motions for different step sizes and speed of walking, i.e., quasi-statically and dynamically stable walking patterns, can be obtained.

Identifying Gait Patterns for Dynamically Stable Walking

2004 ◽  
Author(s):  
Abhishek Agrawal ◽  
Sunil K. Agrawal
Keyword(s):  
Dynamic Stability ◽  
Gait Cycle ◽  
Human Motion ◽  
Degree Of Freedom ◽  
Stability Criteria ◽  
Gait Patterns ◽  
Novel Approach ◽  
Periodic Property ◽  
Stable Gait ◽  
Six Degree Of Freedom

We anticipate that the motion of biped machines should be similar to human motion to achieve dynamic stability. In this paper, a novel approach to compute dynamically stable gait of a planar six degree-of-freedom biped is presented. This approach is analytical and is based on periodic property of a gait cycle. The resulting gait satisfies all dynamic stability criteria.

A reconfigurable tri-prism mobile robot with eight modes

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1454-1476 ◽  
Author(s):  
Jieyu Wang ◽  
Yan'an Yao ◽  
Xianwen Kong
Keyword(s):  
Mobile Robot ◽  
3D Model ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Biped Robots ◽  
Wheeled Robots ◽  
Motion Mode ◽  
Kinematic Properties

SUMMARYA novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.

Sports Analysis and Program Design of Biped Robot Based on Arduino

2013 ◽  
Vol 433-435 ◽  
pp. 107-110
Author(s):  
Jie Liu ◽  
Tao Wu
Keyword(s):  
Motion Analysis ◽  
Program Design ◽  
Control Program ◽  
Biped Robot ◽  
Degree Of Freedom ◽  
Control Panel ◽  
Motion Controller ◽  
Analysis And Design ◽  
Sports Programs ◽  
Six Degree Of Freedom

Based on the profiling principle, assemble bracket and servos into a six-degree-of-freedom biped robot. The robot use Arduino control panel as the motion controller. By analyzing the walking process and developing the sports programs, the overall motion analysis and design corresponding control program is made. So that the robot can be completed by a given program specified straight action.

A Study of the Singular Configurations of Serial Manipulators

1987 ◽  
Vol 109 (1) ◽  
pp. 14-20 ◽  
Author(s):  
Shih-Liang Wang ◽  
Kenneth J. Waldron
Keyword(s):  
Degree Of Freedom ◽  
Serial Manipulators ◽  
Singular Configurations ◽  
Singular Configuration ◽  
Six Degree Of Freedom ◽  
Joint Motions ◽  
Robotic Applications

A manipulator is at a singular configuration when the screws representing the instantaneous joint motions of the manipulator are linearly dependent, and the manipulator cannot be moved along an exact path with specified orientation in world coordinates. There are ∞3 singular configurations for a six-degree-of-freedom manipulator, and all these configurations constitute the singularity field. An algorithm is derived to trace the singularity field. Another algorithm presented in this paper finds all the joint screws reciprocal to a given wrench screw. Some new robotic applications are then possible using the principle of aligning a power tool with the screw of the reciprocal wrench.

Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators

1996 ◽  
Vol 118 (1) ◽  
pp. 22-28 ◽  
Author(s):  
C. M. Gosselin
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Kinematic Chains ◽  
Novel Approach ◽  
Judicious Choice ◽  
Six Degree Of Freedom ◽  
Three Degree Of Freedom

This paper introduces a novel approach for the computation of the inverse dynamics of parallel manipulators. It is shown that, for this type of manipulator, the inverse kinematics and the inverse dynamics procedures can be easily parallelized. The result is a closed-form efficient algorithm using n processors, where n is the number of kinematic chains connecting the base to the end-effector. The dynamics computations are based on the Newton-Euler formalism. The parallel algorithm arises from a judicious choice of the coordinate frames attached to each of the legs, which allows the exploitation of the parallel nature of the mechanism itself. Examples of the application of the algorithm to a planar three-degree-of-freedom parallel manipulator and to a spatial six-degree-of-freedom parallel manipulator are presented.

scholarly journals Implementation of 6-DOF Biped Footstep Planning Under Different Terrain Conditions

2018 ◽  
Vol 7 (3.12) ◽  
pp. 92
Author(s):  
B Senthil Kumaran ◽  
S J.Jebasingh Kirubakaran
Keyword(s):  
Biped Robot ◽  
Humanoid Robots ◽  
Vital Role ◽  
Degree Of Freedom ◽  
Ultrasonic Sensors ◽  
Biped Robots ◽  
Routing Strategy ◽  
Paper Work ◽  
Safe Routing

Humanoid robots gain starting their anthropomorphic profile when functional in human-made environments. In direct to achieve human-like capabilities, robots must be able to recognize, understand and interrelate with the nearby world. We present the development of safe routing strategy for biped robots moving in difficulty untidy environments. In the near view, humanoids play a vital role in helping the mankind by performing the day today activities. Navigation of a humanoid under different terrain conditions such as flat, inclined and slippery environments is a challenge that requires a solution to use humanoids in the households. In this regard, in the planned paper work, a biped robot with 6-Degree of freedom has been designed and tested on the sloped and slippery surfaces, in addition to it, the ultrasonic sensors are used to identify the obstacles. Based on the obstacle identification, the biped path can be altered in order to evade impact within obstacle.   

DYNAMIC STABILITY OF FOILBORNE HYDROFOIL/SWATH WITH ANHEDRAL FOIL CONFIGURATION

2017 ◽  
Vol 159 (B2) ◽  
Author(s):  
S Williams ◽  
S Brizzolara
Keyword(s):  
Vehicle Dynamics ◽  
High Speed ◽  
Degree Of Freedom ◽  
Design Criteria ◽  
Vehicle Stability ◽  
Configuration Design ◽  
Stability Criteria ◽  
Preliminary Assessment ◽  
Displacement Mode ◽  
Six Degree Of Freedom

The hybrid hydrofoil/SWATH (Small Waterplane Area Twin Hull) designed and patented by Stefano Brizzolara, is a novel vehicle that is optimized to operate in both a high-speed foilborne mode and a displacement mode. The deployable hydrofoils on the vehicle take on a unique four surface piercing anhedral foil configuration. This foilborne design had previously undergone only preliminary assessment of stability characteristics. A six degree of freedom model of the foilborne vehicle dynamics is introduced as a framework to study vehicle stability and maneuvering. Stability criteria derived from multiple linearized models of the vehicle dynamics are compared to the six degree of freedom results in both the vertical and horizontal planes. Foil configuration design criteria are developed for pitch equilibrium, pitch stability, and directional stability.

Sign in / Sign up

Export Citation Format

Share Document