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°.

scholarly journals Energy-Efficient Hip Joint Offsets in Humanoid Robot via Taguchi Method and Bio-inspired Analysis

2020 ◽  
Vol 10 (20) ◽  
pp. 7287
Author(s):  
Jihun Kim ◽  
Jaeha Yang ◽  
Seung Tae Yang ◽  
Yonghwan Oh ◽  
Giuk Lee
Keyword(s):  
Energy Efficiency ◽  
Taguchi Method ◽  
Power Consumption ◽  
Hip Joint ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Upper Body ◽  
Mean Square ◽  
Hip Joints ◽  
Sway Motion

Although previous research has improved the energy efficiency of humanoid robots to increase mobility, no study has considered the offset between hip joints to this end. Here, we optimized the offsets of hip joints in humanoid robots via the Taguchi method to maximize energy efficiency. During optimization, the offsets between hip joints were selected as control factors, and the sum of the root-mean-square power consumption from three actuated hip joints was set as the objective function. We analyzed the power consumption of a humanoid robot model implemented in physics simulation software. As the Taguchi method was originally devised for robust optimization, we selected turning, forward, backward, and sideways walking motions as noise factors. Through two optimization stages, we obtained near-optimal results for the humanoid hip joint offsets. We validated the results by comparing the root-mean-square (RMS) power consumption of the original and optimized humanoid models, finding that the RMS power consumption was reduced by more than 25% in the target motions. We explored the reason for the reduction of power consumption through bio-inspired analysis from human gait mechanics. As the distance between the left and right hip joints in the frontal plane became narrower, the amplitude of the sway motion of the upper body was reduced. We found that the reduced sway motion of the upper body of the optimized joint configuration was effective in improving energy efficiency, similar to the influence of the pathway of the body’s center of gravity (COG) on human walking efficiency.

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.

Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation

2014 ◽  
Author(s):  
Michael Rouleau ◽  
Dennis Hong
Keyword(s):  
Disaster Response ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Servo Motor ◽  
End Effector ◽  
Design Considerations ◽  
Wide Range ◽  
End Effectors ◽  
Four Bar Linkage ◽  
Careful Design

End-effectors require careful design considerations to be able to successfully hold and use power tools while maintaining the ability to also grasp a wide range of other objects. This paper describes the design of an end effector for a humanoid robot built for disaster response scenarios. The end effector is comprised of two independently actuated fingers with two opposing stationary rigid hollow pylons built to allow the pinching of objects and to provide protection for the opposing fingers when retracted and not in use. Each finger has two degrees of freedom (DOF) and is actuated with one servo motor through the use of an underactuated four bar linkage. Using only two fingers and two actuators the end-effector has the ability to hold a power tool while also being able to simultaneously actuate the trigger of the tool independently. The combination of compliant fingers and rigid pylons along with the careful design of the palm structure creates a strong robust dexterous end-effort that is simple to control.

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.

Experiments to Validate the Use of a Control Moment Gyroscope (CMG) to Turn Robots

2013 ◽  
Author(s):  
Andrew Boddiford ◽  
Charlie Manion ◽  
Kwan Suk Kim ◽  
Pradeep Radhakrishnan ◽  
Luis Sentis
Keyword(s):  
Range Of Motion ◽  
Humanoid Robot ◽  
Human Subjects ◽  
Humanoid Robots ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Physical Experiments ◽  
And Performance

Turning a robot, particularly an under-actuated bipedal humanoid robot, is challenging. Several methods proposed in the literature for producing human-like motion in such robots are innovative but are limited in their range of motion. This paper presents an approach to control the orientation of a robot using a control moment gyroscope (CMG). A demonstration platform is developed to test this concept and physical experiments are conducted to determine the prototype’s turning range and performance. This concept is then extended to a backpack mount where trials are conducted using human subjects to estimate the performance of the system that can potentially be used to turn bipedal humanoid robots.

scholarly journals Behaviour Generation in Humanoids by Learning Potential-Based Policies from Constrained Motion

2008 ◽  
Vol 5 (4) ◽  
pp. 195-211 ◽  
Author(s):  
Matthew Howard ◽  
Stefan Klanke ◽  
Michael Gienger ◽  
Christian Goerick ◽  
Sethu Vijayakumar
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Movement Planning ◽  
Policy Learning ◽  
High Dimensional ◽  
Constrained Motion ◽  
Learning Potential ◽  
Kinematic Data ◽  
Motion Data

Movement generation that is consistent with observed or demonstrated behaviour is an efficient way to seed movement planning in complex, high-dimensional movement systems like humanoid robots. We present a method for learning potential-based policies from constrained motion data. In contrast to previous approaches to direct policy learning, our method can combine observations from a variety of contexts where different constraints are in force, to learn the underlying unconstrained policy in form of its potential function. This allows us to generalise and predict behaviour where novel constraints apply. We demonstrate our approach on systems of varying complexity, including kinematic data from the ASIMO humanoid robot with 22 degrees of freedom.

CONTRIBUTION TO THE STUDY OF ANTHROPOMORPHISM OF HUMANOID ROBOTS

2005 ◽  
Vol 02 (03) ◽  
pp. 361-387 ◽  
Author(s):  
MIOMIR VUKOBRATOVIĆ ◽  
BRANISLAV BOROVAC ◽  
KALMAN BABKOVIĆ
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Rapid Development ◽  
Humanoid Robots ◽  
Reasonable Number ◽  
The Common ◽  
High Degree ◽  
Near Future

The rapid development of robotics has led to the appearance of very complex humanoid robots possessing already about fifty degrees of freedom. Bearing in mind that such robots will be increasingly more engaged in the close environment of humans, it is expected that the problem of "working coexistence" of man and robot sharing the common workspace will become acute in the near future. Since no significant rearrangement of the human's environment because of the presence of robots can be expected, robots will have to further "adapt" to the environment previously dedicated only to humans. This paper raises some new fundamental questions concerning the necessary degree of anthropomorphism of humanoid robots. What is particularly challenging is how to achieve a sufficiently high degree of anthropomorphism with a reasonable number of degrees of freedom. Using the example of a humanoid robot, concrete measures are proposed as to how to attain the desired degree of its anthropomorphism.

Mechanism Design of a Humanoid Robotic Torso Based on Bionic Optimization

2017 ◽  
Vol 14 (04) ◽  
pp. 1750010 ◽  
Author(s):  
Peng Yao ◽  
Tao Li ◽  
Minzhou Luo ◽  
Qingqing Zhang ◽  
Zhiying Tan
Keyword(s):  
Structural Design ◽  
Optimization Design ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
3D Model ◽  
Structural Characteristics ◽  
Humanoid Robots ◽  
Chain Mechanism ◽  
Serial Chain ◽  
Simulation Results

A new torso structure for a humanoid robot has been proposed. The structural characteristics and functions of human torso have been considered to gain inspirations for design purposes. The proposed torso structure consists of six revolute units divided into two basic categories connected in a serial chain mechanism. The proposed torso structure shows more advantages compared to traditional humanoid robots in terms of high degrees of freedom (DOFs), high stiffness, self-locking capabilities, as well as easy-to-control features. Bionic optimization design based on objective function method has been implemented on structural design for better motion performances. A 3D model has been elaborated and simulated in SolidWorks and ADAMS environments for structural design and kinematic simulation purposes, respectively. Simulation results show that the new bionic torso structure is able to well imitate movements of human torso.

scholarly journals Design, control, and testing of a thumb exoskeleton with series elastic actuation

2017 ◽  
Vol 36 (3) ◽  
pp. 355-375 ◽  
Author(s):  
Priyanshu Agarwal ◽  
Youngmok Yun ◽  
Jonas Fox ◽  
Kaci Madden ◽  
Ashish D Deshpande
Keyword(s):  
Range Of Motion ◽  
Degrees Of Freedom ◽  
Large Range ◽  
Kinematic Model ◽  
Torque Control ◽  
Thumb Motion ◽  
Performance Results ◽  
High Degree ◽  
Kinematic Mechanism ◽  
Series Elastic

We present an exoskeleton capable of assisting the human thumb through a large range of motion. Our novel thumb exoskeleton has the following unique features: (i) an underlying kinematic mechanism that is optimized to achieve a large range of motion, (ii) a design that actuates four degrees of freedom of the thumb, and (iii) a series elastic actuation based on a Bowden cable, allowing for bidirectional torque control of each thumb joint individually. We present a kinematic model of the coupled thumb exoskeleton system and use it to maximize the range of motion of the thumb. Finally, we carry out tests with the designed device on four subjects to evaluate its workspace and kinematic transparency using a motion capture system and torque control performance. Results show that the device allows for a large workspace with the thumb, is kinematically transparent to natural thumb motion to a high degree, and is capable of accurate torque control.

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