Probabilistic Modeling of Human Locomotion for Biped Robot Trajectory Generation

2021 ◽  
Author(s):  
Bharat Singh ◽  
Vishu Gupta ◽  
Rajesh Kumar
Keyword(s):  
Trajectory Generation ◽  
Probabilistic Modeling ◽  
Biped Robot ◽  
Human Locomotion ◽  
Robot Trajectory

Toward Realization a 7-Links Biped Robot - Trajectory Generation

2013 ◽  
Vol 816-817 ◽  
pp. 712-716
Author(s):  
Ahmad Ghanbari ◽  
S. Mohammad Reza S. Noorani ◽  
Hamid HajiMohammadi ◽  
Aida Parvaresh
Keyword(s):  
Gait Analysis ◽  
Software Package ◽  
Trajectory Generation ◽  
Biped Robot ◽  
Human Walking ◽  
Biped Robots ◽  
Robot Trajectory ◽  
Quality Of Motion ◽  
Clinical Gait Analysis

Naturalistic walking is one of the most important purposes of researches on biped robots. A feasible way is to translate the understanding of human walking to robot walking. One of the options that affects the quality of motion in a biped robot is concerned with trajectory generation. So, in this paper it's focused on trajectory generation methods for implementing a 7-links planar walker biped robot. Also, this model is simulated by VisualNastran software package and run according to a Clinical Gait Analysis (CGA) reference that has been modified for a planar model. Lastly, the results of simulation are reported.

Trajectory generation and control for a biped robot walking upstairs

2010 ◽  
Vol 8 (2) ◽  
pp. 339-351 ◽  
Author(s):  
Chan-Soo Park ◽  
Taesin Ha ◽  
Joohyung Kim ◽  
Chong-Ho Choi
Keyword(s):  
Trajectory Generation ◽  
Biped Robot ◽  
And Control

Vision-Based Trajectory Generation for a Two-Link Robotic Arm Using Quadtree Decomposition and Curve Smoothing

2010 ◽  
Vol 108-111 ◽  
pp. 1439-1445
Author(s):  
Shahed Shojaeipour ◽  
Sallehuddin Mohamed Haris ◽  
Ehsan Eftekhari ◽  
Ali Shojaeipour ◽  
Ronak Daghigh
Keyword(s):  
Image Processing ◽  
A Priori ◽  
Trajectory Generation ◽  
Robotic Arm ◽  
Generation System ◽  
End Effector ◽  
Quadtree Decomposition ◽  
Practical Applications ◽  
Robot Trajectory ◽  
Curve Smoothing

In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.

scholarly journals A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zhaoming Liu ◽  
Nailong Liu ◽  
Hongwei Wang ◽  
Shen Tian ◽  
Ning Bai ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Trajectory Generation ◽  
Motion Trajectories ◽  
Robot Controller ◽  
Robot Trajectory ◽  
Fieldbus System ◽  
Sampling Points ◽  
Dynamic Movement Primitives ◽  
Complex Trajectories ◽  
The Brain

Motion modularity is the main method of motion control for higher animals. That means the complex movements of the muscles are made up of basic motion primitives, and the brain or central nervous system does not care about the specific details of the movement. However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points. This approach is equivalent to using the brain to directly guide the specific movement of the muscle and has to rely on a faster Fieldbus system to obtain complex motion trajectories. This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory. With this component, the robot controller can generate complex trajectories without increasing the sampling points and can obtain good trajectory accuracy. Finally, the rationality of this system is proved by simulations and experiments.

New approach for robot trajectory generation with velocity/acceleration clipping constraints

1996 ◽  
Vol 11 (7) ◽  
pp. 713-723
Author(s):  
M.Y. Lee ◽  
A.J. Sturm ◽  
D. Lavalle
Keyword(s):  
Trajectory Generation ◽  
New Approach ◽  
Robot Trajectory

Optimal online robot trajectory generation in Cartesian space

1997 ◽  
Author(s):  
Shafat A. Bazaz ◽  
Bertrand Tondu
Keyword(s):  
Trajectory Generation ◽  
Cartesian Space ◽  
Robot Trajectory

Energy-efficient bio-inspired gait planning and control for biped robot based on human locomotion analysis

2016 ◽  
Vol 13 (2) ◽  
pp. 271-282 ◽  
Author(s):  
Hongbo Zhu ◽  
Minzhou Luo ◽  
Tao Mei ◽  
Jianghai Zhao ◽  
Tao Li ◽  
...  
Keyword(s):  
Energy Efficient ◽  
Biped Robot ◽  
Human Locomotion ◽  
Gait Planning ◽  
Planning And Control ◽  
Locomotion Analysis ◽  
And Control
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