New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Samer Alfayad ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Power Transmission ◽  
Mechanical Design ◽  
Humanoid Robots ◽  
Classical Solutions ◽  
Kinematic Modeling ◽  
New Class ◽  
Hybrid Mechanism ◽  
And Control

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.

scholarly journals SIMULATION AND ANALYZES OF INVERSE-KINEMATIC MODEL OF HUMANOID ROBOT HAND

2019 ◽  
pp. 117-122
Author(s):  
Martin Varga ◽  
Filip Filakovský ◽  
Ivan Virgala
Keyword(s):  
Numerical Modeling ◽  
Humanoid Robot ◽  
Least Squares Method ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Robot Hand ◽  
Kinematic Modeling

Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.

LOLA – a Performance Enhanced Humanoid Robot (LOLA – ein leistungsgesteigerter humanoider Roboter)

2007 ◽  
Vol 49 (4) ◽  
Author(s):  
Thomas Buschmann ◽  
Sebastian Lohmeier ◽  
Kolja Kühnlenz ◽  
Martin Buss ◽  
Heinz Ulbrich ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Vision System ◽  
Humanoid Robots ◽  
Lightweight Construction ◽  
Brushless Motors ◽  
Multibody Model ◽  
Accurate Localization ◽  
6 Degrees Of Freedom ◽  
And Control

SummaryHumanoid robots are perfectly suited for service applications, since their human-like shape allows them to easily access environments designed for humans. This paper presents the performance enhanced humanoid robot LOLA. The goal of the project is to realize fast, human-like and vision-guided walking. LOLA's hardware is characterized by lightweight construction, modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Real-time walking control is realized by a hierarchical trajectory generation and control system. Hardware and control are designed using a comprehensive multibody model of the robot. LOLA is equipped with a novel multi-focal vision system with four cameras and 6 degrees-of-freedom. Multifocal situation-specific gaze control provides high perception quality, flexible reaction, and accurate localization and navigation in large and weakly structured environments.

Development of the Humanoid Robot LOLA

2006 ◽  
Vol 5-6 ◽  
pp. 529-540 ◽  
Author(s):  
Heinz Ulbrich ◽  
T. Buschmann ◽  
S. Lohmeier
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Dynamic Performance ◽  
Hardware Design ◽  
Dynamics Simulation ◽  
Sensor Data ◽  
Knee Joints ◽  
Lightweight Construction ◽  
Walking Motion ◽  
And Control

This paper presents the performance enhanced humanoid robot LOLA which is currently being manufactured. Hardware design, controllers and simulation are based on ex- perience gained during the development of the robot JOHNNIE. The objective of the current research project is to realize a fast, human-like and autonomous walking motion. To enable an optimal design of the robot with respect to lightweight construction, motor and drive sizing, an appropriate simulation model is required. Dynamics simulation is a key tool to develop the hardware and control design properly. For hardware design and detailed dynamic analysis a comprehensive model including motor and gear dynamics is required, while for controller de- sign and stability analysis a simplified model for global system dynamics is sufficient. Both robots are characterized by a lightweight construction. In comparison to JOHNNIE, the new robot LOLA has a modular, multi-sensory joint design with brushless motors. Moreover, the previously purely central electronics architecture is replaced by a network of decentral joint controllers, sensor data acquisition and filtering units and a central PC. The fusion of motor, gear and sensors into a highly integrated mechatronic joint module has several advantages for the whole system, including high power density, good dynamic performance and reliability. Ad- ditional degrees of freedom are introduced in elbow, waist and toes. Linear actuators are used for the knee joints to achieve a better mass distribution in the legs.

Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Samer Alfayad ◽  
Ahmad M. Tayba ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Research Work ◽  
Humanoid Robots ◽  
Kinematic Synthesis ◽  
Hybrid Mechanism ◽  
Generic Hybrid ◽  
Hybrid Mechanisms ◽  
Large Motion ◽  
Linear Actuators ◽  
Three Degrees Of Freedom

This paper deals with a research work that aims to develop a new three degrees-of-freedom (DoF) hybrid mechanism for humanoid robotics application. The proposed hybrid mechanism can be used as a solution not only for several modules in humanoid robots but also for other legged robots such as quadrupeds and hexapods. Hip and shoulder mechanisms are taken as examples in this paper; torso and spine mechanisms, too, can be based on the proposed solutions. In this paper, a detailed analysis of the required performances of the hip and shoulder mechanisms is first carried out. Then, using a kinematic synthesis, a novel solution for the hip mechanism is proposed based on one rotary and two linear actuators. Improving this solution allows us to fulfill the requirements induced by the large motion ranges of the shoulder module, leading to a new management of the linear actuators contributions in the motion/force achievement process. Kinematic and geometrical models of a generic hybrid mechanism are achieved and used to get the optimized solutions of both hybrid mechanisms addressed in this paper.

Wheel-Based Stair Climbing Robot with Hopping Mechanism – Demonstration of Continuous Stair Climbing Using Vibration –

2008 ◽  
Vol 20 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Yuji Asai ◽  
◽  
Yasuhiro Chiba ◽  
Keisuke Sakaguchi ◽  
Naoki Bushida ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Stair Climbing ◽  
Design Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.

Kinematic Modeling and Analysis of a Novel Bio-Inspired and Cable-Driven Hybrid Shoulder Mechanism

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
A. S. Niyetkaliyev ◽  
E. Sariyildiz ◽  
G. Alici
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Kinematic Modeling ◽  
Interaction Forces ◽  
Modeling And Analysis ◽  
Shoulder Joints ◽  
Hybrid Mechanism ◽  
Simulation Results

Abstract The robotic shoulder rehabilitation exoskeletons that do not take into consideration all shoulder degrees-of-freedom (DOFs) lead to undesirable interaction forces and cause discomfort to the patient due to the joint axes misalignments between the exoskeleton and shoulder joints. In order to contribute to the solution of this human–robot compatibility issue, we present the kinematic modeling and analysis of a novel bio-inspired 5-DOFs hybrid human–robot mechanism (HRM). The human limbs are regarded as the inner passive restrained links in the proposed hybrid constrained anthropomorphic mechanism. The proposed hybrid mechanism combines serial and parallel manipulators with rigid and cable links enabling a match between human and exoskeleton joint axes. It is designed to cover the whole range of motion of the human shoulder with the workspace free of singularities. The numerical and simulation results from the computer-aided drawing model of the mechanism are presented to demonstrate the validity of the kinematic model, and the kinematic and singularity merits of the proposed mechanism. A three-dimensional printed prototype of the hybrid mechanism was fabricated to further validate the kinematic model and its overall advantages.

scholarly journals Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4461 ◽  
Author(s):  
Weihai Chen ◽  
Zhongyi Li ◽  
Xiang Cui ◽  
Jianbin Zhang ◽  
Shaoping Bai
Keyword(s):  
Mechanical Design ◽  
Kinematic Model ◽  
Light Weight ◽  
Skeletal System ◽  
Kinematic Modeling ◽  
Modeling And Control ◽  
Arm Rehabilitation ◽  
Human Arm ◽  
Human Limb ◽  
And Control

Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.

Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery

2018 ◽  
Vol 15 (04) ◽  
pp. 1850017
Author(s):  
Guoli Song ◽  
Che Hou ◽  
Yiwen Zhao ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Minimally Invasive ◽  
Spinal Surgery ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Control Design ◽  
Torque Sensor ◽  
Minimally Invasive Spinal Surgery ◽  
Minimally Invasive Surgical ◽  
And Control

Design of the hollow modular joint plays an important role in modern robot layout, fixation, and wiring. In this paper, a hollow modular joint that meets the requirement of a minimally invasive surgical robot is proposed. The mechanical and control design is sequentially illustrated, and the torque sensor and its optimization are provided. Furthermore, a free-force control method is introduced. To analyze the designed module, the simulation of the redundant robot, comprised of the designed joint in seven degrees of freedom, is presented. The results of analyses showed that the designed hollow modular joint is valid and effective.

Recognizing Gestures for Humanoid Robot Using Proto-Symbol Space

2011 ◽  
Vol 403-408 ◽  
pp. 4769-4776
Author(s):  
Nitin Kumar ◽  
Suraj Prakash Sahu ◽  
Jay Prakash Maurya ◽  
G.C. Nandi ◽  
Pavan Chakraborty
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Nearest Neighbor ◽  
Humanoid Robots ◽  
K Nearest Neighbor ◽  
Symbol Space ◽  
Communication Method ◽  
Human Gestures ◽  
Distance Vector ◽  
Hand Gestures Recognition

This paper describes the non Verbal communication method for developing a gesture-based system using Mimesis model. The proposed method is applicable to any hand gesture represented by a multi-dimensional signal. The entire work concentrates mainly on hand gestures recognition. It develops a way to communicate between Humans and the Humanoid Robots through gestural medium. The Mimesis is the technique of performing human gestures through imitation, recognition and generation. Different Gestures are being converted into code words through the use of code book. These code words are then converted into Proto-Symbols, these proto symbol then forms basis for training of the Humanoid robot. The recognition part is performed through a “distance vector”, a novel algorithm developed by us which is a combination of Euclidean distance and K-nearest neighbor. The generation part is done through the use of WEBOTS which include use of Humanoid robot HOAP 2 having 25 degrees of freedom. All the process of training, recognition and generation are simulated through MATLAB.

Design of a Human-Like Range of Motion Hip Joint for Humanoid Robots

2014 ◽  
Author(s):  
Bryce Lee ◽  
Coleman Knabe ◽  
Viktor Orekhov ◽  
Dennis Hong
Keyword(s):  
Range Of Motion ◽  
Hip Joint ◽  
Disaster Response ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Large Range ◽  
Humanoid Robots ◽  
Linkage Mechanism ◽  
Joint Torques ◽  
Similar Range

For a humanoid robot to have the versatility of humans, it needs to have similar motion capabilities. This paper presents the design of the hip joint of the Tactical Hazardous Operations Robot (THOR), which was created to perform disaster response duties in human-structured environments. The lower body of THOR was designed to have a similar range of motion to the average human. To accommodate the large range of motion requirements of the hip, it was divided into a parallel-actuated universal joint and a linkage-driven pin joint. The yaw and roll degrees of freedom are driven cooperatively by a pair of parallel series elastic linear actuators to provide high joint torques and low leg inertia. In yaw, the left hip can produce a peak of 115.02 [Nm] of torque with a range of motion of −20° to 45°. In roll, it can produce a peak of 174.72 [Nm] of torque with a range of motion of −30° to 45°. The pitch degree of freedom uses a Hoeken’s linkage mechanism to produce 100 [Nm] of torque with a range of motion of −120° to 30°.

Sign in / Sign up

Export Citation Format

Share Document