The Design and Modeling of Multi-axis Knee Artificial Leg

2009 ◽  
Vol 24 (1_suppl) ◽  
pp. 183-195 ◽  
Author(s):  
Hualong Xie ◽  
Lixin Guo ◽  
Yongxian Liu ◽  
Fei Li
Keyword(s):  
Humanoid Robot ◽  
Mechanical Design ◽  
Biped Robot ◽  
Human Gait ◽  
Dynamics Model ◽  
Bionic Design ◽  
Optimal Mechanism ◽  
Normal Gait ◽  
Normal Human ◽  
Leg Design

To provide an ideal test-base for the development of an intelligent bionic leg, a new pattern humanoid robot – biped robot with heterogeneous legs (BRHL) was designed. To simulate a normal human gait, a multi-axis knee mechanism was included into the artificial leg design that was different from the artificial leg of a common biped robot. The conception and research purposed for the BRHL was developed. Based on human bioscience, the bionic design of multi-axis knee artificial leg was analyzed and a virtual prototype was made. The kinematics model and dynamics model were deduced in detail. Based on human normal gait data, a simulation of dynamics model was carried. An optimized mechanical design of multi-axis knee artificial leg is discussed and a simulation was done. The optimal mechanism parameters for the multi-axis knee artificial leg and a BRHL prototype were given. This research indicated that a multi-axis knee artificial leg can simulate a human leg.

Intelligent Control of BRHL Based on MR Damper

2007 ◽  
Vol 10-12 ◽  
pp. 466-470 ◽  
Author(s):  
Hua Long Xie ◽  
F. Li ◽  
Fei Wang ◽  
Yong Xian Liu
Keyword(s):  
Intelligent Control ◽  
Humanoid Robot ◽  
Mr Damper ◽  
Biped Robot ◽  
Control Model ◽  
Research Purpose ◽  
Dynamics Model ◽  
Control Simulation ◽  
Combined Control ◽  
Magneto Rheological

Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. This paper first introduces the conception, research purpose and configuration of HRHL. Then coordinated dynamics model and magneto-rheological (MR) damper model are given. In the end, this paper discusses the control model of BRHL and gives combined control simulation. The result indicates that intelligent bionic leg controlled by MR damper can track artificial leg’s gait well.

scholarly journals New Joint Design to Create a More Natural and Efficient Biped

2009 ◽  
Vol 6 (1) ◽  
pp. 27-42 ◽  
Author(s):  
Giuseppina Gini ◽  
Umberto Scarfogliero ◽  
Michele Folgheraiter
Keyword(s):  
Humanoid Robot ◽  
Position Control ◽  
Mechanical Design ◽  
Joint Stiffness ◽  
Biped Robot ◽  
Lower Limbs ◽  
Energetic Efficiency ◽  
Human Foot ◽  
Control Paradigm ◽  
Walking Motion

This paper presents a human-oriented approach to design the mechanical architecture and the joint controller for a biped robot. Starting from the analysis of the human lower limbs, we figured out which features of the human legs are fundamental for a correct walking motion, and can be adopted in the mechanical design of a humanoid robot. We focus here on the knee, designed as a compliant human-like knee instead of a classical pin-joint, and on the foot, characterised by the mobility and lightness of the human foot. We implemented an elastic actuator, with a simple position control paradigm that sets the joint stiffness in real time, and developed the basic controller. Results in simulation are discussed. In our approach the robot gains in adaptability and energetic efficiency, which are the most challenging issues for a biped robot.

scholarly journals Comparative stable walking gait optimization for small-sized biped robot using meta-heuristic optimization algorithms

2018 ◽  
Vol 40 (4) ◽  
pp. 407-424
Author(s):  
Tran Thien Huan ◽  
Ho Pham Huy Anh
Keyword(s):  
Humanoid Robot ◽  
Differential Evolution Algorithm ◽  
Biped Robot ◽  
The Novel ◽  
Biped Robots ◽  
Walking Gait ◽  
Gait Parameters ◽  
Lift Height ◽  
Evolution Algorithm ◽  
Gait Optimization

This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and Modified Differential Evolution algorithm (MDE). The simulated and experimental results carried on the prototype small-sized humanoid robot demonstrate that the novel meta-heuristic CFO algorithm offers an efficient and stable walking gait for biped robots with respect to a pre-set of foot-lift height value.

scholarly journals Design of Biomechanical Legs with a Passive Toe Joint for Enhanced Human-like Walking

2017 ◽  
Vol 14 (2) ◽  
pp. 166 ◽  
Author(s):  
Riadh Zaier ◽  
A. Al-Yahmedi
Keyword(s):  
Design Procedure ◽  
Human Walking ◽  
Human Gait ◽  
Design Parameters ◽  
Sultan Qaboos University ◽  
Motion Trajectories ◽  
Normal Human ◽  
Working Principle ◽  
Mass Spring ◽  
Torsion Springs

This paper presents the design procedure of a biomechanical leg, with a passive toe joint, which is capable of mimicking the human walking. This leg has to provide the major features of human gait in the motion trajectories of the hip, knee, ankle, and toe joints. Focus was given to the approach of designing the passive toe joint of the biomechanical leg in its role and effectiveness in performing human like motion. This study was inspired by experimental and theoretical studies in the fields of biomechanics and robotics. Very light materials were mainly used in the design process. Aluminum and carbon fiber parts were selected to design the proposed structure of this biomechanical leg, which is to be manufactured in the Mechanical Lab of the Sultan Qaboos University (SQU). The capabilities of the designed leg to perform the normal human walking are presented. This study provides a noteworthy and unique design for the passive toe joint, represented by a mass-spring damper system, using torsion springs in the foot segment. The working principle and characteristics of the passive toe joint are discussed.  Four-designed cases, with different design parameters, for the passives toe joint system are presented to address the significant role that the passive toe joint plays in human-like motion. The dynamic motion that is used to conduct this comparison was the first stage of the stance motion. The advantages of the presence of the passive toe joint in gait, and its effect on reducing the energy consumption by the other actuated joints are presented and a comparison between the four-designed cases is discussed.

Mechanical Design and Dynamic Analysis of the Humanoid Robot RH-0

2006 ◽  
pp. 441-448 ◽  
Author(s):  
L. Cabas ◽  
R. Cabas ◽  
D. Kaynov ◽  
M. Arbulu ◽  
P. Staroverov ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Humanoid Robot ◽  
Mechanical Design

Normal Human Gait

2020 ◽  
pp. 1277-1298
Author(s):  
Freeman Miller
Keyword(s):  
Human Gait ◽  
Normal Human

Autonomic Computing in a Biomimetic Algorithm for Robots Dedicated to Rehabilitation of Ankle

2020 ◽  
pp. 955-968
Author(s):  
Euzébio D. de Souza ◽  
Eduardo José Lima II
Keyword(s):  
Autonomic Computing ◽  
Human Mobility ◽  
Lower Limbs ◽  
Human Gait ◽  
Locomotor System ◽  
Physiological Processes ◽  
Torque Generation ◽  
Reaction Forces ◽  
Normal Human ◽  
Robotic Devices

Human mobility is the key element of everyday life, its reduction or loss deeply affects daily activities. In assisted rehabilitation, robotic devices have focuses on the biomechanics of motor control. However, biomechanics does not study the neurological and physiological processes related to normal gait. Biomimetics combined with biomechanics, can generate a more efficient stimulation of the motor cortex and the locomotor system. The highest efficiency obtained through torque generation models, based on the physiological response of muscles and bones to reaction forces, together with control techniques based on autonomic computation. An autonomic control algorithm has a self-adjusting behaviour, ensuring patient safety and robot operation without the continuous monitoring of the physiotherapist. Thus, this work will identify the elements that characterize the physiological stimuli related to normal human gait, focusing on the ankle joint, aiming the development of biomimetic algorithms for robots for rehabilitation of the lower limbs.

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.

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