An Approach to the Design of Walking Humanoid Robots with Different Leg Mechanisms or Flexible Feet and Using Dynamic Gaits

2006 ◽  
Vol 12 (12) ◽  
pp. 1457-1482 ◽  
Author(s):  
Olivier Bruneau
Keyword(s):  
Humanoid Robots ◽  
Leg Mechanisms

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

2001 ◽  
Author(s):  
Olivier Bruneau ◽  
Fethi Ben Ouezdou ◽  
Jean-Guy Fontaine
Keyword(s):  
Design Process ◽  
Humanoid Robots ◽  
Bipedal Robots ◽  
The Third ◽  
Simulation Results ◽  
Leg Mechanisms

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.

INNOVATIVE FOOT PRESSURE SENSOR DESIGN FOR HUMANOID ROBOTS

2019 ◽  
Author(s):  
FRANCISCO ARTHUR BONFIM AZEVEDO ◽  
Daniela Vacarini de Faria ◽  
Marcos Maximo ◽  
Mauricio Donadon
Keyword(s):  
Pressure Sensor ◽  
Humanoid Robots ◽  
Sensor Design ◽  
Foot Pressure

Lovotics

2017 ◽  
Author(s):  
Adrian David Cheok ◽  
Kasun Karunanayaka ◽  
Emma Yann Zhang
Keyword(s):  
Science Fiction ◽  
Intimate Relationships ◽  
Intelligent Systems ◽  
Humanoid Robots ◽  
Legal Issues ◽  
Sex Communication ◽  
Ethical And Legal Issues ◽  
Recent Activity ◽  
Academic Area ◽  
Robot Companions

Intimate relationships, such as love and sex, between human and machines, especially robots, has been one of the themes of science fiction. However, this topic has never been treated in the academic area until recently. It was first raised and discussed by David Levy in his book Love and Sex with Robotics (2007). Since then, researchers have come up with many implementations of robot companions, like sex robots, emotional robots, humanoid robots, and artificial intelligent systems that can simulate human emotions. This chapter presents a summary of significant recent activity in this field, predicts how the field is likely to develop, and discusses ethical and legal issues. We also discuss our research in physical devices for human–robot love and sex communication.

Humans and humanoids

2018 ◽  
Author(s):  
Giorgio Metta
Keyword(s):  
Humanoid Robot ◽  
Robot Vision ◽  
Physical Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Humanoid Robotics ◽  
Biomimetic Robot ◽  
Compliant Actuation

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 157-182 ◽  
Author(s):  
HAO GU ◽  
MARCO CECCARELLI ◽  
GIUSEPPE CARBONE
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Dynamic Simulations ◽  
Suitable Combination ◽  
User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

scholarly journals Modeling, comparison and evaluation of one-DOF six-bar bioinspired jumping leg mechanisms

2021 ◽  
Vol 13 (2) ◽  
pp. 168781402199295
Author(s):  
Ziqiang Zhang ◽  
Qi Yang ◽  
Xingkun Liu ◽  
Chuanzhong Zhang ◽  
Jinnong Liao
Keyword(s):  
Center Of Mass ◽  
Principal Component ◽  
Analysis Method ◽  
Index Distribution ◽  
Inertial Moment ◽  
Structure Index ◽  
Mean And Variance ◽  
Research Objects ◽  
Leg Mechanisms ◽  
Selection Of

One degree-of-freedom (DOF) jumping leg has the advantages of simple control and high stiffness, and it has been widely used in bioinspired jumping robots. Compared with four-bar jumping leg, six-bar jumping leg mechanism can make the robot achieve more abundant motion rules. However, the differences among different configurations have not been analyzed, and the choice of configurations lacks basis. In this study, five Watt-type six-bar jumping leg mechanisms were selected as research objects according to the different selection of equivalent tibia, femur and trunk link, and a method for determining the dimension of the jumping leg was proposed based on the movement law of jumping leg of locust in take-off phase. On this basis, kinematics indices (sensitivity of take-off direction angle and trunk attitude angle), dynamics indices (velocity loss, acceleration fluctuation, and mean and variance of total inertial moment) and structure index (distribution of center of mass) were established, and the differences of different configurations were compared and analyzed in detail. Finally, according to the principal component analysis method, the optimal selection method for different configurations was proposed. This study provides a reference for the design of one DOF bioinspired mechanism.

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