Kinematics Analysis Based on Screw Theory of a Humanoid Robot

2007 ◽  
Vol 17 (1) ◽  
pp. 49-52 ◽  
Author(s):  
Cui-hua MAN ◽  
Xun FAN ◽  
Cheng-rong LI ◽  
Zhong-hui ZHAO
Keyword(s):  
Humanoid Robot ◽  
Screw Theory ◽  
Kinematics Analysis

The Mechanical System Structure Design and Kinematics Analysis of the Bipedal Humanoid Robot Leg

2014 ◽  
Vol 496-500 ◽  
pp. 857-860
Author(s):  
Deng Qi Cui ◽  
Hong Bing Xin ◽  
Long Liu ◽  
Tan Wang ◽  
Yue Fei Xin
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Screw Theory ◽  
Structure Design ◽  
System Structure ◽  
Joint Movement ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Design Requirements ◽  
The Mathematical Model

In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponential product formula to establish the mathematical model of the legs, to analyze the kinematics of the legs, finally obtains that the range of joint movement comply with the design requirements.

REAL-TIME GAIT PLANNING FOR THE HUMANOID ROBOT Rh-1 USING THE LOCAL AXIS GAIT ALGORITHM

2009 ◽  
Vol 06 (01) ◽  
pp. 71-91 ◽  
Author(s):  
MARIO ARBULU ◽  
CARLOS BALAGUER
Keyword(s):  
Real Time ◽  
Lie Groups ◽  
Humanoid Robot ◽  
Screw Theory ◽  
Step Length ◽  
Center Of Gravity ◽  
Joint Torque ◽  
Continuous Change ◽  
Motion Generation ◽  
Table Model

This paper presents the 3D foot and center of gravity motion planning for the humanoid robot called the "local axis gait" (LAG) algorithm. It permits walking on different kinds of surfaces, such as planes, ramps or stairs. Furthermore, continuous change of the step length and orientation in real time will be possible, due to the real-time linear dynamics model of the walking pattern of the humanoid. The robot model is based on the cart table formulation for planning the center of gravity (COG) and zero moment point (ZMP) motion. The proposed algorithm takes into account physical robot constraints such as joint angles, angular velocity and torques. Torques are computed by the Lagrange method under screws and Lie groups. The LAG is divided into several stages: computation of the footprints; the decision of the ZMP limits around the footprints; the dynamic humanoid COG motion generation based on the cart table model; and joining the footprints of the swing foot by splines. In this way it is possible to generate each step online, using the desired footprints as input. In order to compute the joint torque limits, the Lagrangian method is used under the Lie groups and screw theory. The paper presents and discusses some successful results on the LAG in the full-size humanoid robot Rh-1 developed in the Roboticslab of University Carlos III of Madrid.

Kinematics Analysis of Generalized SRU Manipulator Based on Screw Theory

2018 ◽  
Author(s):  
Wenwei Li ◽  
Guangbing Zhou ◽  
Xuefeng Zhou ◽  
Zaili Chen ◽  
Liang Wu ◽  
...  
Keyword(s):  
Screw Theory ◽  
Kinematics Analysis

Design and Kinematics Analysis of a Novel Planar Parallel Mechanism

2014 ◽  
Vol 568-570 ◽  
pp. 904-910
Author(s):  
Yan Bin Zhang ◽  
Hui Ping Wang
Keyword(s):  
Condition Number ◽  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Kinematics Analysis ◽  
Moving Platform ◽  
One To One ◽  
Actuated Joints

A novel 3-dof planar parallel mechanism, which is composed by three different limbs, is designed. The moving platform can translate along two directions and rotate around one axis with respect to the base. Mobility of the mechanism is discussed and calculated based on the screw theory. The forward and the inverse analytical position equations are derived and the veloctiy analysis is addressed too. The Jacobian matrix is an identical one, so there exists one-to-one corresponding linear controlling relationship between one of the actuated joints and one of the outputs of the platform. Moreover, the condition number of the Jacobian matrix is constantly equal to one and the mechanism shows fully-isotropic throughout entire workspace.

A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis

2012 ◽  
Vol 227 (9) ◽  
pp. 2039-2048 ◽  
Author(s):  
Sheng Guo ◽  
Congzhe Wang ◽  
Haibo Qu ◽  
Yuefa Fang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Elimination Method ◽  
Direct Kinematics

In this article, a novel 4-RRCR parallel mechanism is introduced based on screw theory, and its kinematics and singularity are studied systematically. First, the degree of freedom analysis is performed using the screw theory. The formulas for solving the inverse and direct kinematics are derived. Second, a recursive elimination method is proposed to solve the Jacobian matrix based on the algebra operation of reciprocal product. Then, three kinds of singularity, i.e. limb, platform, and actuation singularities are analyzed. Finally, the analysis proves that the proposed mechanism possesses two advantages of simple forward kinematics and no platform singularity.

Kinematics Analysis of a Snake Robot Module Using Screw Theory

2016 ◽  
Author(s):  
Qing Xiao ◽  
Zhengcai Cao ◽  
Jian S. Dai
Keyword(s):  
Screw Theory ◽  
Kinematic Model ◽  
Kinematics Analysis ◽  
Mobility Analysis ◽  
Snake Robot ◽  
Numerical Result ◽  
Time Motion ◽  
Parallel Module ◽  
Kinematic Performance ◽  
Accurate Scheme

A natural snake can navigate lots of diverse environments owing to their extreme agility and hyper-redundancy. However, earlier snake robot designs are inadequate to imitate the living snake locomotion comprehensively, since the deficiency of mobility in each single module. The application of parallel mechanism in snake robot can provide considerable dexterity and support-ability to overcome the aforementioned drawback. This paper presents a bionic parallel module for snake robot inspired by the anatomy of biological snake. To generate four distinct gaits of living snake, three motion screws of the mechanism are obtained via mobility analysis. Further, a kinematic model of this mechanism is investigated by reciprocal screw and Lie algebra aimed to evaluate the kinematic performance in an efficient and accurate scheme, which facilitates real-time motion control. Finally, a numerical result using this method is supplied, and its effectiveness is corroborated by kinematic simulation of ADAMS.

scholarly journals Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

2020 ◽  
Author(s):  
Peng Sun ◽  
Yanbiao Li ◽  
Ke Chen ◽  
Wen-Tao Zhu ◽  
Qi Zhong ◽  
...  
Keyword(s):  
Lie Groups ◽  
Lie Algebras ◽  
Screw Theory ◽  
Hessian Matrix ◽  
Parallel Mechanisms ◽  
Analysis Method ◽  
Kinematics Analysis ◽  
Hybrid Mechanisms ◽  
Parallel Configuration

Abstract The advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and the generalized analysis method and concise kinematics transfer matrix are obtained. First, according to the kinematics analysis of serial mechanisms, the basic principles of Lie groups Lie algebras in dealing with the spatial switching and differential operations of screw vectors are briefly explained. Then, based on the standard ideas of Lie operations, the method for kinematics analysis of parallel mechanisms is derived, and Jacobian matrix and Hessian matrix are formulated both recursively and in closed form. After that, according to the mapping relationship between the parallel joints and the corresponding equivalent series joints, a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are studied. A case study is performed to verify the calculated matrices, in which a humanoid hybrid robotic arm with the parallel-series-parallel configuration is taken as an example. Simulation experiment results show that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practicable.

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