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.

Mobile Carrying Platform: i-Explore

2020 ◽  
Author(s):  
Kiwon Sohn ◽  
Aurian Emami ◽  
Jaesung Yang
Keyword(s):  
Mobile Robot ◽  
Kinematic Analysis ◽  
Mechanical Design ◽  
Physical Disabilities ◽  
Low Cost ◽  
Indoor Environments ◽  
Technical Design ◽  
Assistive Robot ◽  
Design Requirements ◽  
Low Cost Manufacturing

Abstract This paper presents the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this paper, the mechanical design and building processes of i-Explore which focused on fast reactiveness 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 mobile robot are described. Lastly, i-Explore is tested and evaluated both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.

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.

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.

Mechanical Design of a Low Cost Transhumeral Prosthesis

2017 ◽  
Author(s):  
Luis Arturo Gómez Malagón ◽  
João Luiz Vilar Dias
Keyword(s):  
Mechanical Design ◽  
Low Cost

scholarly journals A Low-Cost Assistive Robot for Children with Neurodevelopmental Disorders to Aid in Daily Living Activities

2021 ◽  
Vol 18 (8) ◽  
pp. 3974
Author(s):  
Roberto J. López-Sastre ◽  
Marcos Baptista-Ríos ◽  
Francisco Javier Acevedo-Rodríguez ◽  
Soraya Pacheco-da-Costa ◽  
Saturnino Maldonado-Bascón ◽  
...  
Keyword(s):  
Neurodevelopmental Disorders ◽  
Low Cost ◽  
Children And Youth ◽  
Proof Of Concept ◽  
Robotic Platform ◽  
Assistive Robot ◽  
Technical Details ◽  
The Impact ◽  
Near Future ◽  
Everyday Living

In this paper, we present a new low-cost robotic platform that has been explicitly developed to increase children with neurodevelopmental disorders’ involvement in the environment during everyday living activities. In order to support the children and youth with both the sequencing and learning of everyday living tasks, our robotic platform incorporates a sophisticated online action detection module that is capable of monitoring the acts performed by users. We explain all the technical details that allow many applications to be introduced to support individuals with functional diversity. We present this work as a proof of concept, which will enable an assessment of the impact that the developed technology may have on the collective of children and youth with neurodevelopmental disorders in the near future.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

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.

scholarly journals A Cotton Module Feeder Plastic Contamination Inspection System

2020 ◽  
Vol 2 (2) ◽  
pp. 280-293
Author(s):  
Mathew G. Pelletier ◽  
Greg A. Holt ◽  
John D. Wanjura
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Processing System ◽  
Technical Note ◽  
Inspection System ◽  
Learning Program ◽  
Cotton Lint ◽  
Cotton Industry ◽  
Bill Of Materials ◽  
The U.S

The removal of plastic contamination in cotton lint is an issue of top priority to the U.S. cotton industry. One of the main sources of plastic contamination showing up in marketable cotton bales, at the U.S. Department of Agriculture’s classing office, is plastic from the module wrap used to wrap cotton modules produced by the new John Deere round module harvesters. Despite diligent efforts by cotton ginning personnel to remove all plastic encountered during unwrapping of the seed cotton modules, plastic still finds a way into the cotton gin’s processing system. To help mitigate plastic contamination at the gin; an inspection system was developed that utilized low-cost color cameras to see plastic on the module feeder’s dispersing cylinders, that are normally hidden from view by the incoming feed of cotton modules. This technical note presents the design of an automated intelligent machine-vision guided cotton module-feeder inspection system. The system includes a machine-learning program that automatically detects plastic contamination in order to alert the cotton gin personnel as to the presence of plastic contamination on the module feeder’s dispersing cylinders. The system was tested throughout the entire 2019 cotton ginning season at two commercial cotton gins and at one gin in the 2018 ginning season. This note describes the over-all system and mechanical design and provides an over-view and coverage of key relevant issues. Included as an attachment to this technical note are all the mechanical engineering design files as well as the bill-of-materials part source list. A discussion of the observational impact the system had on reduction of plastic contamination is also addressed.

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