A KINEMATIC MODEL OF THE UPPER LIMB WITH A CLAVICLE-LIKE LINK FOR HUMANOID ROBOTS

2008 ◽  
Vol 05 (01) ◽  
pp. 87-118 ◽  
Author(s):  
BERTRAND TONDU
Keyword(s):  
Upper Limb ◽  
Humanoid Robot ◽  
Frontal Zone ◽  
Kinematic Model ◽  
Shoulder Girdle ◽  
Humanoid Robots ◽  
Biomechanical Study ◽  
The Body ◽  
Human Arm ◽  
Shoulder Complex

Starting from a biomechanical study of the shoulder complex, the relevance of a serial nine d.o.f. kinematic model of the human arm, including a clavicle-like link, was analyzed. It is shown that this partial biomimetic joint model of the upper limb is able to mimic the ability of the natural arm to practically eliminate internal and bound singularities over a large frontal zone, so as to maintain its elbow laterally to the body. In this sense, it appears to be an advanced solution for increasing the dexterity of humanoid robot upper limbs, thus replacing classical seven d.o.f. anthropomorphic arms where a device mimicking the shoulder girdle mechanism is absent.

DYNAMIC ROLL-AND-RISE MOTION BY AN ADULT-SIZE HUMANOID ROBOT

2004 ◽  
Vol 01 (03) ◽  
pp. 497-516 ◽  
Author(s):  
YASUO KUNIYOSHI ◽  
YOSHIYUKI OHMURA ◽  
KOJI TERADA ◽  
AKIHIKO NAGAKUBO
Keyword(s):  
Critical Points ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
The Body ◽  
Whole Body ◽  
Adult Size ◽  
Constrained Motion ◽  
Goal State ◽  
Trade Offs ◽  
Alternative Approach

Whole-body dynamic actions under various contacts with the environment will be very important for future humanoid robots to support human tasks in unstructured environments. Such skills are very difficult to realize using the standard motion control methodology based on asymptotic convergence to the successive desired states. An alternative approach would be to exploit the passive dynamics of the body under constrained motion, and to navigate through multiple dynamics by imposing the least control in order to robustly reach the goal state. As a first example of such a strategy, we propose and investigate a "Roll-and-Rise" motion. This is a fully dynamic whole-body task including underactuated motion whose state trajectory is insoluble, and unpredictable perturbations due to complex contacts with the ground. First, we analyze the global structure of Roll-and-Rise motion. Then the critical points are analyzed using simplified models and simulations. The results suggest a non-uniform control strategy which focuses on sparse critical points in the global phase space, and allows deviations and trade-offs at other parts. Finally, experiments with a real adult-size humanoid robot are successfully carried out. The robot rose from a flat-lying posture to a crouching posture within 2 seconds.

Positional kinematics of humanoid arms

Robotica ◽  
2005 ◽  
Vol 24 (1) ◽  
pp. 105-112 ◽  
Author(s):  
Jadran Lenarčič ◽  
Nives Klopčar
Keyword(s):  
Shoulder Joint ◽  
Glenohumeral Joint ◽  
Humanoid Robots ◽  
Optical Measurements ◽  
Constant Length ◽  
Human Arm ◽  
Joint Coordinates ◽  
Healthy Female ◽  
Shoulder Complex ◽  
And Control

We present the positional abilities of a humanoid manipulator based on an improved kinematical model of the human arm. This was synthesized from electro-optical measurements of healthy female and male subjects. The model possesses three joints: inner shoulder joint, outer shoulder joint and elbow joint. The first functions as the human sternoclavicular joint, the second functions as the human glenohumeral joint, and the last replicates the human humeroulnar rotation. There are three links included, the forearm and the upper arm link which are of a constant length, and the shoulder link which is expandable. Mathematical interrelations between the joint coordinates are also taken into consideration. We determined the reachability of a humanoid arm, treated its orienting redundancy in the shoulder complex and the positional redundancy in the shoulder-elbow complexes, and discussed optimum configurations in executing different tasks. The results are important for the design and control of humanoid robots, in medicine and sports.

scholarly journals An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots

2021 ◽  
Vol 12 (1) ◽  
pp. 661-675
Author(s):  
Qiaolian Xie ◽  
Qiaoling Meng ◽  
Qingxin Zeng ◽  
Hongliu Yu ◽  
Zhijia Shen
Keyword(s):  
Upper Limb ◽  
Trajectory Planning ◽  
Wrist Joint ◽  
Kinematic Model ◽  
Human Motion ◽  
Upper Limb Exoskeleton ◽  
Rehabilitation Robots ◽  
Proposed Model ◽  
Human Arm ◽  
Human Upper Limb

Abstract. Upper limb exoskeleton rehabilitation robots have been attracting significant attention by researchers due to their adaptive training, highly repetitive motion, and ability to enhance the self-care capabilities of patients with disabilities. It is a key problem that the existing upper limb exoskeletons cannot stay in line with the corresponding human arm during exercise. The aim is to evaluate whether the existing upper limb exoskeleton movement is in line with the human movement and to provide a design basis for the future exoskeleton. This paper proposes a new equivalent kinematic model for human upper limb, including the shoulder joint, elbow joint, and wrist joint, according to the human anatomical structure and sports biomechanical characteristics. And this paper analyzes the motion space according to the normal range of motion of joints for building the workspace of the proposed model. Then, the trajectory planning for an upper limb exoskeleton is evaluated and improved based on the proposed model. The evaluation results show that there were obvious differences between the exoskeleton prototype and human arm. The deviation between the human body and the exoskeleton of the improved trajectory is decreased to 41.64 %. In conclusion, the new equivalent kinematics model for the human upper limb proposed in this paper can effectively evaluate the existing upper limb exoskeleton and provide suggestions for structural improvements in line with human motion.

A Kinematic Study of Human Torso Motion

2007 ◽  
Author(s):  
Christian Simonidis ◽  
Gu¨nther Stelzner ◽  
Wolfgang Seemann
Keyword(s):  
Kinematic Model ◽  
Shoulder Girdle ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Motion Data ◽  
Multibody Model ◽  
Natural Motion ◽  
Kinematic Study ◽  
Relative Coordinates ◽  
New Formulation

This paper illustrates a kinematic study of human torso motion in order to design and transfer human-like motion on humanoid robots. The realization is done using motion capture data and an optimization based inverse kinematic approach for mapping motion data to skeleton models with the main focus on reproducing realistic torso motion. The kinematic model is based on a multiybody approach using relative coordinates. According to the difficulty of marker based motion reconstruction of human torso movements a detailed multibody model of the spine with a coupling structure between vertebrae based on medical data is introduced. Then, a new formulation describing the kinematic constraints between pelvis and shoulder girdle is presented in order to simplify modeling effort while maintaining natural motion of the torso. Results are compared for key movements with common models. The developed models will be used for design application in the Collaborative Research Center 588 “Humanoid Robots - Learning and Cooperating Multimodal Robots”.

scholarly journals Magnitude of physiological curvatures of the spine and the incidence of contractures of selected muscle groups in students

2018 ◽  
Vol 10 (1) ◽  
pp. 31-37
Author(s):  
Elżbieta Olszewska ◽  
Piotr Tabor ◽  
Renata Czarniecka
Keyword(s):  
Hip Joint ◽  
Pearson Correlation ◽  
Correlation Coefficients ◽  
Shoulder Girdle ◽  
The Body ◽  
Body Posture ◽  
Inclination Angles ◽  
Shoulder Complex ◽  
Muscle Groups ◽  
The Individual

Summary Study aim: The aim of this study was to evaluate the incidence of contractures of selected muscle groups with respect to the magnitude of the physiological curvatures of the spine in young men with above-average levels of physical activity.Material and methods: The study included 96 students at the University of Physical Education in Warsaw aged between 20 and 22 years (21.2 ± 1.05). Ninety-five percent of the students participated in sports training activities. The study was conducted between January and February 2016. The selected traits of the body posture were evaluated with an inclinometer, which was used to measure the inclination angles of sections of the spine relative to the vertical. The ranges of motion in the shoulder complex and the pelvic complex were measured with a goniometer. Values of 175º (for the shoulder complex) and 174° (for the hip joint) were assumed to indicate a decreased range of motion.Results: The analysis of the individual results concerning mobility disorders in the shoulder complex and the pelvic complex revealed significant abnormalities in the researched group of students. About 90% of the study participants showed contrac­tures of selected muscle groups within the shoulder girdle, primarily in the right upper limb. Similar results were obtained for the incidence of contractures in the flexors of the hip joint. Flexion contractures in the hip joint were observed in around 84% of the participants, primarily in the left lower limb. The correlations between the inclination angles of the sections of the spine relative to the vertical and the ranges of motion in the shoulder complex and the pelvic complex, established using Pearson correlation coefficients, were ambiguous. The angles γ, β1 and α were inversely proportional to the range of raising motions of the upper limbs through flexion, where the correlation coefficients of all angles were statistically significant. Similar tendencies were observed for the correlations between the angles β2, β1 and α and the range of the extension movements at the hip joint, although the correlation coefficients were statistically significant only in the case of the angle β1.Conclusions: Ranges of movement in the shoulder complex and pelvic complex have an influence on magnitude of physiologi­cal curvatures of the spine and the functioning of body posture.

scholarly journals SIMULATION AND ANALYZES OF INVERSE-KINEMATIC MODEL OF HUMANOID ROBOT HAND

2019 ◽  
pp. 117-122
Author(s):  
Martin Varga ◽  
Filip Filakovský ◽  
Ivan Virgala
Keyword(s):  
Numerical Modeling ◽  
Humanoid Robot ◽  
Least Squares Method ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Robot Hand ◽  
Kinematic Modeling

Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.

scholarly journals Research on sports planning and stability control of humanoid robot table tennis

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090596
Author(s):  
Zichen Nie
Keyword(s):  
Trajectory Planning ◽  
Humanoid Robot ◽  
Control Method ◽  
Least Squares Method ◽  
Human Life ◽  
Humanoid Robots ◽  
Stability Control ◽  
Living Environment ◽  
The Body ◽  
Table Tennis

The humanoid robot has the human shape and has great advantages in assisting human life and work. The ability to work, especially in a dynamic, unstructured environment, is an important prerequisite for humanoid robots to assist humans in their mission. Table tennis hitting involves a variety of key technologies such as visual inspection, trajectory planning, and artificial intelligence. It is an important research example that can reflect the ability of humanoid robots. First, according to the requirements of humanoid robots in the human living environment and the requirements of coordinating table tennis batting movements throughout the body, a method of establishing a humanoid robot model was analyzed, and a control system was designed to meet the needs of rapid table tennis batting. Second, a motion model construction and optimization algorithm based on intelligent learning training is proposed. Based on the parameter knowledge base established by the multiple trajectories of table tennis, a kind of electromagnetic mechanism and D-optimality regularized orthogonal minima are introduced. Design a two-pass method (regularized orthogonal least squares method + D-optimality) to learn the two-level learning method, which is used to learn the key parameters of the table tennis model. Third, for human-like robotic table tennis fast-moving, it is necessary to satisfy both the task and the stability requirements and to propose a stability-optimized whole-system coordinated trajectory planning method. The effectiveness of the proposed humanoid robot table tennis hitting motion planning and stability control method is verified by experiments.

scholarly journals Kinematic, Workspace and Static Analysis of a Upper Body Humanoid Robot

2019 ◽  
Vol 8 (6S4) ◽  
Keyword(s):  
Static Analysis ◽  
Human Body ◽  
Humanoid Robot ◽  
Screw Theory ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Upper Body ◽  
Forward Kinematic ◽  
Behavior Health ◽  
And Behavior

Humanoid robots are used fortraining purposes, personal assistance, understanding the human body structure and behavior, health care field, entertainment field, military purposes, space explorations, etc. Kinematic analysis plays a crucial role in the development of a humanoid robot. This paper presents the kinematic, workspace and static analysis of a Humanoid upper body robot. The forward kinematic model is obtained by using Screw theory. Screw theory provides the complete description of the system than the Denavit- Hartenberg (DH) method. Screw theory decreases the chances of occurrences of singularities inside the workspace. The joint angles in the upper body are obtained by using cubic spline trajectory method. The proposed torso and arm design can imitate the human body postures. The humanoid robot is designed with 3 Dofs in the torso, 2 Dofs in the neck and 5 Dofs in each arm. The two arms are designed with identical joints.

scholarly journals Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

2018 ◽  
Vol 68 (3) ◽  
pp. 59-76
Author(s):  
Bajrami Xhevahir ◽  
Shala Ahmet ◽  
Hoxha Gezim ◽  
Likaj Rame
Keyword(s):  
Humanoid Robot ◽  
Kinematic Model ◽  
Dynamic Modelling ◽  
Angular Acceleration ◽  
Biped Robot ◽  
Humanoid Robots ◽  
Motion Controller ◽  
Left And Right ◽  
The Stability ◽  
Driving Torque

AbstractThis paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

scholarly journals Comparison of function of passive modular exoskeletons for analysis of abduction movement and horizontal abduction of the upper limb

2020 ◽  
pp. 210-218
Author(s):  
MA Fumagalli ◽  
AJC Pitta ◽  
PCS Emanuel ◽  
V Costa ◽  
CMP Souza
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Daily Living ◽  
Functional Limitation ◽  
Shoulder Girdle ◽  
The Body ◽  
Lower Limbs ◽  
Skeletal Structure ◽  
Complex Activity ◽  
Upper Limb Exoskeleton

Stroke is one of the biggest problems of the health system in Brazil and in the world: not only due to high health costs, but also due to the treatment that does not guarantee a complete functional recovery. About 25% of the patients do not survive, and almost half of the survivors have a functional limitation of the upper and / or lower limbs. In the human body, the skeletal structure provides mechanical support for movements. On the shoulder, we find the greatest amount of degrees of articular freedom of the body - it allows arm movements in almost all directions, as well as in different angles. Compromising any of your movements directly affects autonomy in activities of daily living. The tracking of movements of the shoulder girdle and upper limbs accompanied by biomechanical assessments in the performance of activities of daily living provides support for rehabilitation. This measurement, however, is a complex activity due to the number of interdependent joints and movements. The objective of this research is to compare the readings performed on two passive exoskeletons, which measure three-dimensionally the movement of the abduction / adduction and lateral abduction joints. To acquire the signals in the mechanical structure of the equipment, a reading system by a position sensor (encoder) is placed. The acquired signals are treated with a computational tool. The data are presented in real time, with visual feedback on joint movements. In the tests performed, the exoskeleton had no mechanical limitations that prevented the measurement of movements. Keywords. Upper limb, Exoskeleton, Measurement system.

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