Upper Body Development of Full-Sized Humanoid, HART, for Vehicle-Driving Task

2019 ◽  
Author(s):  
Kiwon Sohn ◽  
Mark Markiewicz
Keyword(s):  
Low Cost ◽  
Upper Body ◽  
Whole Body ◽  
Steering Wheel ◽  
Body Development ◽  
Hardware Configuration ◽  
Driving Task ◽  
Electrical Components ◽  
Low Cost Manufacturing ◽  
Control System Architecture

Abstract In this paper, the development of an upper body for the full-sized humanoid, HART is presented. The main design objective of HART platform is to enable the bipedal robot to drive off-the-shelf vehicles in real world environments. Continued from the previous efforts which focused on the lower body, the same technical design requirements, kinematic adaptation and low cost manufacturing, were kept being explored for HART’s upper body building in this study. First, the control system architecture and whole body hardware configuration of the robot are presented. Then, the mechanical and electrical components of each joint and its design process are described. The kinematic analysis and motion trajectory generation are also provided for the vehicle-driving task such as steering-wheel manipulation. Last, the built platform is tested through experimentation using physical vehicles to evaluate the presented design.

Development of Lower Body for Vehicle Driving Robot, HART

2018 ◽  
Author(s):  
Kiwon Sohn ◽  
Mark Markiewicz ◽  
Stefan Keilich
Keyword(s):  
Low Cost ◽  
Control Input ◽  
Lower Body ◽  
Ground Vehicles ◽  
Vehicle Handling ◽  
Assistive Robot ◽  
Different Types ◽  
Hardware Configuration ◽  
Design Requirements ◽  
Low Cost Manufacturing

This paper presents the development of a lower body for a full-size humanoid platform, HART (Human Assistive RoboT). The design objective of HART is to enable the robot to drive off-the-shelf vehicles in human-centered environments. To accomplish the goal, two technical design requirements which include kinematic adaptation and low-cost manufacturing are addressed and explored in this study. First, the overall hardware configuration and software control architecture of HART are presented. Then, the kinematic and dynamic specification of each joint and its design process are described. The kinematic analysis and motion planning of HART are also provided for the vehicle handling task such as control input manipulation. Last, the built platform is tested and evaluated through experimentations using two different types of ground vehicles.

Re-Sizable Quadrupedal Robot Platform: HARQ

2020 ◽  
Author(s):  
Kiwon Sohn ◽  
Salman Hussain ◽  
Matthew Bradnan ◽  
Owen May
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Work Environments ◽  
Outdoor Environment ◽  
Whole Body ◽  
Simulated Environment ◽  
Assistive Robot ◽  
Design Requirements ◽  
Low Cost Manufacturing ◽  
Robot Platform

Abstract This paper presents the development of kinematically adjustable quadrupedal robot platform, HARQ (Human Assistive and Robust Quadruped) which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2019. The main objective of HARQ is to assist various tasks of human workers in dangerous work environments such as disasters. In this paper, the mechanical design and building processes of HARQ which focused on kinematic adaptivity and low-cost manufacturing as its main technical design requirements are described first. Then, the kinematic analysis and its implementation in the low-level body controller of the quadrupedal robot are described. Lastly, HARQ is tested and evaluated both in a simulated environment using its virtual model and in an outdoor environment using the physically built platform with various whole body motions which are designed for the robot’s navigation.

Multi-Objective Optimization of Human Gait With a Discomfort Function

2016 ◽  
Author(s):  
Hyun-Jung Kwon ◽  
Hyun-Joon Chung ◽  
Yujiang Xiang
Keyword(s):  
Joint Torque ◽  
Upper Body ◽  
Whole Body ◽  
Human Gait ◽  
Multi Objective Optimization ◽  
Joint Angles ◽  
Backward Walking ◽  
Multi Objective ◽  
Body Model ◽  
Neutral Angle

The objective of this study was to develop a discomfort function for including a high DOF upper body model during walking. A multi-objective optimization (MOO) method was formulated by minimizing dynamic effort and the discomfort function simultaneously. The discomfort function is defined as the sum of the squares of deviation of joint angles from their neutral angle positions. The dynamic effort is the sum of the joint torque squared. To investigate the efficacy of the proposed MOO method, backward walking simulation was conducted. By minimizing both dynamic effort and the discomfort function, a 3D whole body model with a high DOF upper body for walking was demonstrated successfully.

Micromolding Fabrication of Biocompatible Dry Micro-Pyramid Array Electrodes for Wearable Biopotential Monitoring

2021 ◽  
Author(s):  
Marco Vinicio Alban ◽  
Haechang Lee ◽  
Hanul Moon ◽  
Seunghyup Yoo
Keyword(s):  
Large Scale ◽  
Low Cost ◽  
Skin Irritation ◽  
Electrode Impedance ◽  
Non Invasive ◽  
Solution Processes ◽  
Dry Electrodes ◽  
Array Electrode ◽  
Low Cost Manufacturing ◽  
Electromyography Signals

Abstract Thin dry electrodes are promising components in wearable healthcare devices. Assessing the condition of the human body by monitoring biopotentials facilitates the early diagnosis of diseases as well as their prevention, treatment, and therapy. Existing clinical-use electrodes have limited wearable-device usage because they use gels, require preparation steps, and are uncomfortable to wear. While dry electrodes can improve these issues and have demonstrated performance on par with gel-based electrodes, providing advantages in mobile and wearable applications; the materials and fabrication methods used are not yet at the level of disposable gel electrodes for low-cost mass manufacturing and wide adoption. Here, a low-cost manufacturing process for thin dry electrodes with a conductive micro-pyramidal array is presented for large-scale on-skin wearable applications. The electrode is fabricated using micromolding techniques in conjunction with solution processes in order to guarantee ease of fabrication, high device yield, and the possibility of mass production compatible with current semiconductor production processes. Fabricated using a conductive paste and an epoxy resin that are both biocompatible, the developed micro-pyramidal array electrode operates in a conformal, non-invasive manner, with low skin irritation, which ensures improved comfort for brief or extended use. The operation of the developed electrode was examined by analyzing electrode-skin-electrode impedance, electroencephalography, electrocardiography, and electromyography signals and comparing them with those measured simultaneously using gel electrodes.

Reliable Subjective Assessment of Vehicle Handling by Drivers: Is it an Elusive Goal?

2001 ◽  
Author(s):  
D. A. Crolla ◽  
J. P. Whitehead
Keyword(s):  
Subjective Assessment ◽  
Whole Body ◽  
Steering Wheel ◽  
Vehicle Handling ◽  
Dynamic Events ◽  
Safety Systems

Abstract Much progress has been made over recent years in understanding many aspects of driver-vehicle interactions, for example, linked to ergonomics/comfort of the cabin, influence of improved safety systems, interactions with ITS systems etc. However, in more dynamic situations, similar levels of understanding have not been achieved. Such dynamic events range from whole body motions such as vehicle handling and ride to component behaviour including, in particular, steering wheel feel and gearshift quality.

Recognition and prediction of driver’s whole body posture model

2022 ◽  
pp. 095440702110686
Author(s):  
Jun Wu ◽  
Jian Liu ◽  
Xiuyuan Li ◽  
Lingbo Yan ◽  
Libo Cao ◽  
...  
Keyword(s):  
Regression Model ◽  
Body Posture ◽  
Upper Body ◽  
Whole Body ◽  
Lower Body ◽  
Key Factor ◽  
Upper Body Posture ◽  
Spatial Coordinates ◽  
Posture Prediction ◽  
Connection Length

The driver’s whole-body posture at the time of a collision is a key factor in determining the magnitude of injury to the driver. However, current researchs on driver posture models only consider the upper body posture of the driver, and the lower body area which is not perceived by sensors is not studied. This paper investigates the driver’s posture and establishes a 3D posture model of the driver’s whole body through the application of machine vision algorithms and regression model statistics. This study proposes an improved Kinect-OpenPose algorithm for identifying the 3D spatial coordinates of nine keypoints of the driver’s upper body. The posture prediction regression model of four keypoints of the lower body is established by conducting volunteer posture acquisition experiments on the developed simulated driving seat and analyzing the volunteer posture data through using the principal components of the upper body keypoints and the seat parameters. The experiments proved that the error of the regression model in this paper is minor than that of current studies, and the accuracy of the keypoint location and the keypoint connection length of the established driver whole body posture model is high, which provides implications for future studies.

scholarly journals Continuous-range tunable multilayer frequency-selective surfaces using origami and inkjet printing

2018 ◽  
Vol 115 (52) ◽  
pp. 13210-13215 ◽  
Author(s):  
Syed Abdullah Nauroze ◽  
Larissa S. Novelino ◽  
Manos M. Tentzeris ◽  
Glaucio H. Paulino
Keyword(s):  
Low Cost ◽  
Frequency Selective Surfaces ◽  
Angle Of Incidence ◽  
Spatial Filters ◽  
Continuous State ◽  
Subtractive Manufacturing ◽  
Time Requirements ◽  
Frequency Selective ◽  
Tunable Frequency ◽  
Electrical Components

The tremendous increase in the number of components in typical electrical and communication modules requires low-cost, flexible and multifunctional sensing, energy harvesting, and communication modules that can readily reconfigure, depending on changes in their environment. Current subtractive manufacturing-based reconfigurable systems offer limited flexibility (limited finite number of discrete reconfiguration states) and have high fabrication cost and time requirements. Thus, this paper introduces an approach to solve the problem by combining additive manufacturing and origami principles to realize tunable electrical components that can be reconfigured over continuous-state ranges from folded (compact) to unfolded (large surface) configurations. Special “bridge-like” structures are introduced along the traces that increase their flexibility, thereby avoiding breakage during folding. These techniques allow creating truly flexible conductive traces that can maintain high conductivity even for large bending angles, further enhancing the states of reconfigurability. To demonstrate the idea, a Miura-Ori pattern is used to fabricate spatial filters—frequency-selective surfaces (FSSs) with dipole resonant elements placed along the fold lines. The electrical length of the dipole elements in these structures changes when the Miura-Ori is folded, which facilitates tunable frequency response for the proposed shape-reconfigurable FSS structure. Higher-order spatial filters are realized by creating multilayer Miura-FSS configurations, which further increase the overall bandwidth of the structure. Such multilayer Miura-FSS structures feature the unprecedented capability of on-the-fly reconfigurability to different specifications (multiple bands, broadband/narrowband bandwidth, wide angle of incidence rejection), requiring neither specialized substrates nor highly complex electronics, holding frames, or fabrication processes.

Production of Metal Matrix Composite Using a Bottom Tapping Stir Casting Furnace

2015 ◽  
Vol 772 ◽  
pp. 263-267 ◽  
Author(s):  
Ramanathan Arunachalam ◽  
Majid Al-Maharbi ◽  
Yahya Al Kiyumi ◽  
Elyas Aal-Thani ◽  
Mohammed Al Mafraji
Keyword(s):  
Continuous Improvement ◽  
Manufacturing Process ◽  
Metal Matrix ◽  
Low Cost ◽  
Casting Process ◽  
Stir Casting ◽  
Matrix Composites ◽  
High Quality ◽  
Reinforcement Material ◽  
Low Cost Manufacturing

Metal matrix composites (MMC's) have attracted the attention of researchers for quite some time. In the last 15 years, many studies have been reported in this field of MMC production through various routes. The most commonly used process for producing MMC is stir casting process whereby the reinforcement material is incorporated into the molten metal by stirring. It is a relatively low cost manufacturing process that is capable of producing high quality MMC. However, the process is associated with issues such as attaining uniform distribution of particles, wettability between particles and porosity in the MMCs. Because of these challenges, there has been continuous improvement in the process as well as the design of the furnace. In this research, an innovatively designed bottom tapping furnace has been used to produce the MMCs and the produced sample is characterized.

Sign in / Sign up

Export Citation Format

Share Document