An Approach for the Design of Walking Humanoid Robots Having Different Leg Mechanisms and Using Dynamic Gaits

Author(s):  
Olivier Bruneau ◽  
Fethi Ben Ouezdou ◽  
Jean-Guy Fontaine

Abstract This article describes a method to design humanoid robots and to generate their dynamic gaits. Firstly, the global design process which defines structures able to carry out dynamic locomotion tasks is explained. Secondly, a set of leg mechanisms are described to generate these tasks. The third section describes a method to produce intrinsic smooth motions for fest walking gaits of bipedal robots having different leg mechanisms. Finally, some simulation results are given.

2016 ◽  
Vol 685 ◽  
pp. 408-412 ◽  
Author(s):  
E.G. Gromova ◽  
A.G. Bakanova

The paper describes a method of pattern cutting of sheet articles using the elastic medium pressure. Research works have been conducted into feasibility of the suggested pattern cutting using finite element simulation method. The experimental research was conducted into deformation processes during rotational separating stamping of sheet articles by means of elastic medium pressure so that to confirm relevance of the mathematical simulation results. The optimum design process parameter value combinations have been determined for implementing the rotary pattern cutting process.


Author(s):  
Jinya Zhang ◽  
Yongjiang Li ◽  
K. Vafai ◽  
Yongxue Zhang

Purpose Numerical simulations of a multistage multiphase pump at different operating conditions were performed to study the variational characteristics of flow parameters for each impeller. The simulation results were verified against the experimented results. Because of the compressibility of the gas, inlet volume flow rate qi and inlet flow angle ßi for each impeller decrease gradually from the first to the last stage. The volume flow rate at the entrance of the pump q, rotational speed n and inlet gas volume fraction (IGVF) affect the characteristics of qi and ßi. Design/methodology/approach The hydraulic design features of the impellers in the multistage multiphase pump are obtained based on the flow parameter characteristics of the pump. Using the hydraulic setup features, stage-by-stage design of the multistage multiphase pump for a nominal IGVF has been conducted. Findings The numerical simulation results show that hydraulic loss in impellers of the optimized pump is substantially reduced. Furthermore, the hydraulic efficiency of the optimized pump increases by 3.29 per cent, which verifies the validation of the method of stage-by-stage design. Practical implications Under various operating conditions, qi and ßi decrease gradually from the first to the fifth stage because of the compressibility of the gas. For this characteristic, the fluid behavior varies at each stage of the pump. As such, it is necessary to design impellers stage by stage in a multistage rotodynamic multiphase pump. Social implications These results will have substantial effect on various practical operations in the industry. For example, in the development of subsea oilfields, the conventional conveying equipment, which contains liquid-phase pumps, compressors and separators, is replaced by multiphase pumps. Multiphase pumps directly transport the mixture of oil, gas and water from subsea oilwells through a single pipeline, which can simplify equipment usage, decrease backpressure of the wellhead and save capital costs. Originality/value Characteristics of a multistage multiphase pump under different operating conditions were investigated along with features of the inlet flow parameters for every impeller at each compression stage. Our simulation results have established that the change in the inlet flow parameters of every impeller is mainly because of the compressibility of the gas. The operational parameters q, n and IGVF all affect the characteristics of qi and ßi. However, the IGVF has the most prominent effect. Lower values of IGVF have an insignificant effect on the gas compressibility. Higher values of IGVF have a significant effect on the gas compressibility. All these characteristics affect the hydraulic design of the impellers for a multistage multiphase pump. In addition, the machining precision should also be considered. Considering all these factors, when IGVF is lower than 10 per cent, all the impellers in the pump can be designed uniformly. When IGVF varies from 10 to 30 per cent, the first two stages should be designed separately, and the latter stages are uniform starting with the second stage. When IGVF varies from 30 to 50 per cent, the first three stages should be designed separately, and the latter stages are going to be similar to the third stage. An additional increase in IGVF results in degeneration of the differential pressure of the pump, which will reduce the compressibility of the gas. As such, it can be deduced that only the first three stages should be designed separately, and the latter stages will be similar to the third stage. In addition, for the pump working under a lower volume flow rate than 25 m3/h, the first three stages should be designed individually while keeping the geometrical structure of the subsequent stages the same as the third stage.


Robotica ◽  
2014 ◽  
Vol 33 (7) ◽  
pp. 1424-1445 ◽  
Author(s):  
Mohamed H. Zaher ◽  
Said M. Megahed

SUMMARYThis paper studies the effect of joint flexibility on the dynamic performance of a serial spatial robot arm of rigid links. Three models are developed in this paper. The first and the third models are developed using the multibody dynamics approach, while the second using the classical robotics approach. A numerical algorithm and an experimental test-rig are developed to test the final model. The links' inertial parameters are estimated numerically. Empirical formulae with assumption models are used to estimate the flexibility coefficients. The simulation results show that the joint damping is a major source of inaccuracies, causing trajectory error without a proper feedback controller.


2016 ◽  
Vol 65 (1) ◽  
pp. 117-132 ◽  
Author(s):  
Chen Xiao-Qiang ◽  
Hao Chun-Ling ◽  
Qiu Hao ◽  
Li Min

AbstractIn this paper, a low kilo-volt-ampere rating zigzag connected autotransformer based 36-pulse rectifier system supplying vector controlled induction motor drives (VCIMD) is designed, modeled and simulated. Detailed design procedure and magnetic rating calculation of the proposed autotransformer and interphase reactor is studied. Moreover, the design process of the autotransformer is modified to make it suitable for retrofit applications. Simulation results confirm that the proposed 36-pulse rectifier system is able to suppress less than 35thharmonics in the utility line current. The influence of load variation and load character is also studied to demonstrate the performance and effectiveness of the proposed 36-pulse rectifiers. A set of power quality indices at AC mains and DC link are presented to compare the performance of 6-, 24- and 36-pulse AC-DC converters.


Author(s):  
HAMID BEIGY ◽  
M. R. MEYBODI

A solution to channel assignment problem in cellular networks is self-organizing channel assignment algorithm with distributed control. In this paper, we propose three cellular learning automata based dynamic channel assignment algorithms. In the first two algorithms, no information about the status of channels in the whole network will be used by cells for channel assignment whereas in the third algorithm, the additional information regarding status of channels may be gathered and then used by cells in order to allocate channels. The simulation results show that by using the proposed channel assignment algorithms the micro-cellular network can self-organize itself. The simulation results also show that the additional information used by the third algorithm help the cellular learning automata to find an assignment which results in lower blocking probability of calls for the network.


2017 ◽  
Vol 16 (2) ◽  
Author(s):  
Dyah Lintang Trenggonowati

<em>PT. LTX is a company engaged in manufacturing that produce tin plate coil form. Coil packaging process needs to be done before it is sent to the customer. In the process of packaging the coil is found on the machine appender bottleneck causing measurement stations of diameter and wrapping coil to be delayed which makes the time coil packaging is not optimal. This study aims to determine the simulation model of the existing coil packaging process, determining the proposed improvements to optimize the timing of coil packaging process, as well as find out the time optimal coil packaging process. This study uses a software simulation with ProModel 7.5. ProModel simulation results showed that the average time coil packaging process for 657.81 hours per month, so that made three design alternatives and the best improvement is the third alternative with the addition of resources such as forklifts and additional mounting stations crown that yield an average of 315.296 hours per month.</em>


2017 ◽  
Vol 869 ◽  
pp. 212-225 ◽  
Author(s):  
Diana Fernandez-Prieto ◽  
Hans Hagen

For decades, multiple lighting simulation software packages and plugins for commercial software have been developed in an effort to ease the usage and integration of simulation into the lighting design process. In this effort, one of the main challenges is to provide lighting designers with an easy and comprehensive access to simulation results. Visualization is used as a means to achieve this goal. In this paper, we explore two of the most used free lighting simulation packages towards the identification of visualization techniques that facilitate the access to the simulation results as well as the identification of opportunities for the enhancement of simulation-assisted lighting design processes. A test case of a metal workshop illustrates the output produced by both software packages. Based on this exploration, we identified an open gap regarding three main aspects: interactive exploration of simulation results, visualization of compliance with lighting standards, and visual comparison of lighting solutions. We provide a discussion on how approaches from other domains can be applied to close this gap.


2010 ◽  
Vol 17 (13) ◽  
pp. 1938-1951 ◽  
Author(s):  
M Malekzadeh ◽  
A Naghash ◽  
HA Talebi

In this paper, the problem of attitude control of a flexible spacecraft is investigated. Three controllers are presented. The first controller is based on dynamic inversion, while the second is based on the µ-synthesis method and the third approach is composed of dynamic inversion and µ-synthesis schemes. It is assumed that only one torque on the hub is used. Actuator saturation is also considered in the design of controllers. To evaluate the performance of the proposed controllers, an extensive number of simulations on the model of the spacecraft are performed. The performances of the proposed controllers are compared in terms of nominal performance, robustness to uncertainties, suppression of panel vibration, sensitivity to measurement noise, environment disturbance, and nonlinearity in large maneuvers. Simulation results confirm the ability of the proposed controller in tracking the attitude trajectory while damping the panel vibration. It is also verified that the perturbations, environment disturbances, and measurement errors have only slight effects on the tracking and damping performances. It is notable that the composite method (dynamic inversion and µ-synthesis) is not new; however, this application is new.


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