Design and Control of a 13-DOF Biped Robot Using Human Gait

2010 ◽  
Author(s):  
Reza Naghibi ◽  
Alireza Akbarzadeh Tootoonchi
Keyword(s):  
Human Body ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Golden Ratio ◽  
Biped Robot ◽  
Human Gait ◽  
Proper Number ◽  
Control Scheme ◽  
The One ◽  
And Control

This paper presents a new biped humanoid robot, as well as control strategies to be implemented for walking and balance recovery. The ultimate design goal was to design the structure to be as close to a lower part of human body as possible. Therefore, golden-ratio-based human body proportions and proper number of degrees of freedom of the lower part are used [1]. The biped has 12 actuated DOE in the lower body: three at each hip, one at each knee, two at each ankle as well as 1 additional DOF at its torso. Each degree of freedom is powered by a force controllable actuator. To achieve human like trajectory, human walking data has been used [2]. To insure both stability and human like trajectory, a torque compensator is added to the one DOF at the torso. The Biped is designed in SolidWorks and simulated in SimMechanic and COSMOSMotion. The movement of the joints are achieved by motors and harmonic drives. The contact between sole and ground is considered to be elastic and is modelled using spring and damper in horizontal and vertical directions [3]. Finally, control of the biped is performed using a PID control scheme and each of the 13 motors achieve desired human like trajectory.

scholarly journals Improvement of Measurement and Control Scheme on Human Body Motion Interface

2012 ◽  
Vol 2 (4) ◽  
pp. 53-59 ◽  
Author(s):  
Sho Yokota ◽  
Hiroshi Hashimoto ◽  
Yasuhiro Ohyama ◽  
Daisuke Chugo ◽  
Jinhua She ◽  
...  
Keyword(s):  
Human Body ◽  
Body Motion ◽  
Control Scheme ◽  
And Control ◽  
Measurement And Control

Modeling Pedestrian and Motorist Interaction at Semi-Controlled Crosswalks: The Effects of a Change from One-Way to Two-Way Street Operation

2019 ◽  
Vol 2673 (11) ◽  
pp. 433-446 ◽  
Author(s):  
Jon D. Fricker ◽  
Yunchang Zhang
Keyword(s):  
Logistic Regression ◽  
Control Strategies ◽  
Binary Logistic Regression ◽  
Pavement Markings ◽  
Video Recordings ◽  
Ordered Logistic Regression ◽  
Before And After ◽  
The One ◽  
Pedestrian Crossing ◽  
And Control

A large number of crosswalks are indicated by pavement markings and signs, but are not signal-controlled. In this paper, such a location is called “semi-controlled.” At locations where such a crosswalk has moderate amounts of pedestrian and vehicle traffic, pedestrians and motorists often engage in a non-verbal “negotiation” to determine who should proceed first. This paper describes the detailed analysis of video recordings of more than 3,400 pedestrian–motorist interactions at semi-controlled crosswalks. The study also took advantage of a conversion from one-way operation in spring 2017 to two-way operation in spring 2018 on the street chosen for data collection and analysis. This permitted before and after studies at the same location. The pedestrian models used mixed effects logistic regression and binary logistic regression to identify factors that influence the likelihood of a pedestrian crossing under specified conditions. The complementary motorist models used generalized ordered logistic regression to identify factors that impact a driver’s likelihood of decelerating, which was found to be a more useful factor than likelihood of yielding to pedestrian. The data showed that 56.5% of drivers slowed down or stopped for pedestrians on the one-way street. This value rose to 63.9% on the same street after it had been converted to two-way operation. Moreover, two-way operation eliminated the effects of the presence of other vehicles on driver behavior. Relationships were found that can lead to policies and control strategies designed to improve the operation of such a crosswalk.

Design and Analysis of a Multimodal Grasper Having Shape Conformity and Within-Hand Manipulation With Adjustable Contact Forces

2019 ◽  
Vol 11 (5) ◽  
Author(s):  
Nagamanikandan Govindan ◽  
Asokan Thondiyath
Keyword(s):  
Control Strategies ◽  
Low Cost ◽  
Active Surface ◽  
Force Sensor ◽  
Contact Forces ◽  
Geometrical Shape ◽  
Planning And Control ◽  
Control Scheme ◽  
And Control ◽  
Compact Mechanism

Abstract This paper presents the design, analysis, and testing of a novel multimodal grasper having the capabilities of shape conformation, within-hand manipulation, and a built-in compact mechanism to vary the forces at the contact surface. The proposed grasper has two important qualities: versatility and less complexity. The former refers to the ability to grasp a range of objects having different geometrical shape, size, and payload and perform in-hand manipulations such as rolling and sliding, and the latter refers to the uncomplicated design, and ease of planning and control strategies. Increasing the number of functions performed by the grasper to adapt to a variety of tasks in structured and unstructured environments without increasing the mechanical complexity is the main interest of this research. The proposed grasper consists of two hybrid jaws having a rigid inner structure encompassed by a flexible, active gripping surface. The flexibility of the active surface has been exploited to achieve shape conformation, and the same has been utilized with a compact mechanism, introduced in the jaws, to vary the contact forces while grasping and manipulating an object. Simple and scalable structure, compactness, low cost, and simple control scheme are the main features of the proposed design. Detailed kinematic and static analysis are presented to show the capability of the grasper to adjust and estimate the contact forces without using a force sensor. Experiments are conducted on the fabricated prototype to validate the different modes of operation and to evaluate the advantages of the proposed concept.

scholarly journals Guidance Navigation and Control for Autonomous Multiple Spacecraft Assembly: Analysis and Experimentation

2011 ◽  
Vol 2011 ◽  
pp. 1-18 ◽  
Author(s):  
Riccardo Bevilacqua ◽  
Marcello Romano ◽  
Fabio Curti ◽  
Andrew P. Caprari ◽  
Veronica Pellegrini
Keyword(s):  
Degrees Of Freedom ◽  
Control Strategies ◽  
Guidance And Control ◽  
Navigation And Control ◽  
Rotational Degrees Of Freedom ◽  
Multiple Spacecraft ◽  
Three Degree Of Freedom ◽  
Extra State ◽  
And Control ◽  
Spacecraft Assembly

This work introduces theoretical developments and experimental verification for Guidance, Navigation, and Control of autonomous multiple spacecraft assembly. We here address the in-plane orbital assembly case, where two translational and one rotational degrees of freedom are considered. Each spacecraft involved in the assembly is both chaser and target at the same time. The guidance and control strategies are LQR-based, designed to take into account the evolving shape and mass properties of the assembling spacecraft. Each spacecraft runs symmetric algorithms. The relative navigation is based on augmenting the target's state vector by introducing, as extra state components, the target's control inputs. By using the proposed navigation method, a chaser spacecraft can estimate the relative position, the attitude and the control inputs of a target spacecraft, flying in its proximity. The proposed approaches are successfully validated via hardware-in-the-loop experimentation, using four autonomous three-degree-of-freedom robotic spacecraft simulators, floating on a flat floor.

Hierarchical Modular Structures and Their Mechanical Characteristics

2004 ◽  
Author(s):  
N. Kishimoto ◽  
M. C. Natori
Keyword(s):  
Mechanical Characteristics ◽  
Control Strategies ◽  
Life Cycles ◽  
Hierarchical Assembly ◽  
Mathematical Algorithm ◽  
Hexagonal Shape ◽  
Internal Forces ◽  
The One ◽  
And Control ◽  
Modular Structures

Future structure systems need adapatability to various changes from the viewpoint of total cost for their missions. In order to introduce such adaptability into artificial structure systems, their future concepts with autonomous life cycles are discussed, which are typical features of things in nature. To realize such concepts hierarchical modular structures are proposed and studied. They consist of a number of basic modules, which are assembled with hierarchical assembly rules. A mathematical algorithm extended from the one for fractal formations is introduced, which keeps their basic property of geometrical symmetry. Some examples of hierarchical modular structures composed of basic modules with hexagonal shape are illustrated. Their mechanical characteristics such as characteristic frequencies and distributions of internal forces under some boundary conditions are also calculated. It is shown that the hierarchical modular structures are able to provide systematically various structures based on required mechanical properties and control strategies, which means they can easily construct various structure systems fitted to wide environments and their changes.

scholarly journals An Advanced Guidance and Control System for an Unmanned Vessel with Azimuthal Thrusters

2018 ◽  
Author(s):  
M Bibuli ◽  
Ga Bruzzone ◽  
Gi Bruzzone ◽  
M Caccia ◽  
G Camporeale ◽  
...  
Keyword(s):  
Autonomous Navigation ◽  
Control Strategies ◽  
Vertical Axis ◽  
Control Loop ◽  
Guidance And Control ◽  
Marine Vehicles ◽  
Regulation Scheme ◽  
Control Scheme ◽  
Constrained Environments ◽  
And Control

The proposed paper presents the design and development of the combined guidance and control strategies for the autonomous navigation of an unmanned vessel characterized by azimuth-based thrust architecture. Autonomous Marine Vehicles (AMVs) are consolidates technological tools commonly employed for different tasks such as exploration, sampling and intervention. With the final aim of autonomous shipping, the capabilities of AMVs have to be migrated and adapted towards the reliable and safe control of commercial-like unmanned vessel, that are taking place thanks to a number of technological research projects. The employment of new concept hulls and thrust configurations, as for instance Small Waterplane Area Twin Hull (SWATH) combined with Azimuthal propulsion (common propeller-based thruster with the capability of 360◦ rotation around the vertical axis), requires robust guidance techniques to provide precise and reliable motion control during navigation. The paper proposes a dual-loop guidance and control scheme able to provide advanced navigation capabilities. In particular, the inner control loop, devoted to the actuation of the azimuthal thrusters, allows the tracking of reference course angle (namely the autopilot). Such a control loop is characterized by a modified PID regulation scheme, where a novel adaptive derivative component is inserted in order to improve the convergence curve towards the required course reference. The outer guidance loop, based on Lyapunov/virtual-target approach, allows the vessel to track generic desired paths, thus enhancing the autonomous navigation capabilities also in constrained environments. The paper will provide a deep design and analysis approach for the developed techniques, as well as simulation results of the combined guidance and control scheme, proving the reliability of the proposed approach in different operative conditions. Experimental results will be provided, depending on the availability of the actual autonomous vessel (currently under final development/test phases and related to the specific project activities). 

Afterword IV Case studies

2018 ◽  
Author(s):  
Benjamin Roche ◽  
Hélène Broutin ◽  
Frédéric Simard
Keyword(s):  
Low Income ◽  
Evolutionary Ecology ◽  
Control Strategies ◽  
Buruli Ulcer ◽  
Host Population ◽  
Low Income Countries ◽  
Transmission Control ◽  
Short Term ◽  
The One ◽  
And Control

Through malaria elimination in Italy at the end of 19th century (when the epidemiological situation could be seen as similar to the one present in low-income countries today) and control strategies against Buruli ulcer and schistosomiasis in Africa, we have shown examples demonstrating that the translation of evolutionary ecology knowledge to infectious diseases control in low-income countries can be successful. These successes have reached different stages, from increasing our understanding of the whole infectious system dynamics toward implementation of innovative control strategies in the short term (Buruli ulcer), to improving transmission control by reducing abundance of host population (schistosomiasis in Senegal), as well as ensuring complete disease elimination locally, through a combination of massive reduction of vector populations at key periods and human-population protection and education (malaria in Italy)....

An Insight into Nanomedicinal Approaches to Combat Viral Zoonoses

2020 ◽  
Vol 20 (11) ◽  
pp. 915-962
Author(s):  
Prasad Minakshi ◽  
Mayukh Ghosh ◽  
Rajesh Kumar ◽  
Basanti Brar ◽  
Upendra P. Lambe ◽  
...  
Keyword(s):  
Control Strategies ◽  
Delivery Systems ◽  
Viral Diseases ◽  
Bibliographic Databases ◽  
Health Concept ◽  
Current Scenario ◽  
Potential Benefits ◽  
Successful Control ◽  
The One ◽  
And Control

Background: Emerging viral zoonotic diseases are one of the major obstacles to secure the “One Health” concept under the current scenario. Current prophylactic, diagnostic and therapeutic approaches often associated with certain limitations and thus proved to be insufficient for customizing rapid and efficient combating strategy against the highly transmissible pathogenic infectious agents leading to the disastrous socio-economic outcome. Moreover, most of the viral zoonoses originate from the wildlife and poor knowledge about the global virome database renders it difficult to predict future outbreaks. Thus, alternative management strategy in terms of improved prophylactic vaccines and their delivery systems; rapid and efficient diagnostics and effective targeted therapeutics are the need of the hour. Methods: Structured literature search has been performed with specific keywords in bibliographic databases for the accumulation of information regarding current nanomedicine interventions along with standard books for basic virology inputs. Results: Multi-arrayed applications of nanomedicine have proved to be an effective alternative in all the aspects regarding the prevention, diagnosis, and control of zoonotic viral diseases. The current review is focused to outline the applications of nanomaterials as anti-viral vaccines or vaccine/drug delivery systems, diagnostics and directly acting therapeutic agents in combating the important zoonotic viral diseases in the recent scenario along with their potential benefits, challenges and prospects to design successful control strategies. Conclusions: This review provides significant introspection towards the multi-arrayed applications of nanomedicine to combat several important zoonotic viral diseases.

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